Control method and related device for electric wheelchair

Abstract

This application provides a method and related device for controlling an electric wheelchair. The method includes the following steps: When a corresponding target route is determined to be in front of the wheelchair based on an image of road conditions ahead of the wheelchair captured by a camera module, a first execution operation corresponding to the target route and a first group of components corresponding to the first execution operation are determined; a first group of energy storage batteries is determined from a plurality of energy storage batteries based on the first execution operation and the first group of components; the first group of energy storage batteries is controlled to supply power to at least one target component in the first group of components; and the at least one target component is controlled to operate based on the first execution operation. This not only realizes wheelchair assistance in special situations, but also improves the utilization efficiency of the plurality of energy storage batteries.

Description

[Technical Field]

[0001] REFERENCE TO RELATED APPLICATIONS This application claims priority from Chinese Patent Application No. 2023115165538, filed on November 15, 2023, entitled "Control Method and Related Device for Electric Wheelchair," the entire contents of which are incorporated herein by reference.

[0002] This application relates generally to the field of control, and more particularly to methods and related devices for controlling powered wheelchairs. [Background technology]

[0003] Currently, electric wheelchairs use a separate battery to support the operation of all components in the electric wheelchair. However, when special situations arise, such as when going uphill, the power consumption of the electric wheelchair increases, which requires the separate battery to output more power. As a result, the battery power is easily insufficient, shortening its lifespan and hindering the normal use of the electric wheelchair. Summary of the Invention

[0004] This application provides a control method and related device for an electric wheelchair, which determines the wheelchair's auxiliary operation in a special scenario and the auxiliary components corresponding to the auxiliary operation, and selects a corresponding energy storage battery from multiple energy storage batteries to supply power to the auxiliary components to perform the corresponding auxiliary operation, thereby avoiding excessive battery consumption due to increased power consumption when the electric wheelchair is traveling in a special scenario and improving the utilization efficiency of the multiple energy storage batteries.

[0005] In a first aspect, the present application provides a control method for an electric wheelchair, the method being applied to a controller in a wheelchair control system, the wheelchair control system further comprising a camera module and an energy storage device, the energy storage device comprising a plurality of energy storage batteries. The method includes: A target image is received from the camera module, the target image being an image of the road conditions ahead of the wheelchair captured by the camera module. If it is determined that the current path is the target path based on the target image, a first execution operation corresponding to the target path and a first group of components corresponding to the first execution operation are determined, where the first group of components includes at least one target component. A first group of energy storage batteries is determined based on the first execution operation and the first group of components, and the first group of energy storage batteries includes at least one energy storage battery of the plurality of energy storage batteries. The first group of energy storage batteries is controlled to supply power to at least one target component in the first group of components, and the at least one target component in the first group of components is controlled to operate based on the first execution operation.

[0006] As can be seen from the above, the present application realizes assistance for wheelchairs in special scenarios and improves the safety of the wheelchair during operation. Furthermore, a first group of energy storage batteries is determined from multiple energy storage batteries corresponding to a first execution operation and a first group of components, and the first group of energy storage batteries supplies power to at least one target component in the first group of components. This process ensures that the power supplied from the energy storage batteries meets the demand for the first execution operation (a high-power operation required for the wheelchair in the special scenario). This avoids the possibility of excessive battery consumption due to the power amount of a single battery not matching the demand for the first execution operation. This process improves the efficiency of the execution operation of the wheelchair and extends the battery life.

[0007] In one possible example, determining the first group of components corresponding to the first execution operation includes: The remaining energy amount corresponding to the energy storage device is obtained, and the remaining energy amount corresponding to the energy storage device includes a sum of the remaining energy amounts of the multiple energy storage batteries. If the remaining power amount corresponding to the energy storage device is less than a first preset threshold, determine that at least one first component is a first group of components corresponding to a first execution operation. When the remaining energy amount corresponding to the energy storage device is equal to or greater than a first preset threshold, determine that at least one second component is a first group of components corresponding to a first execution operation, where the at least one second component includes at least one first component and at least one third component, where the first component is an auxiliary component required to execute the first execution operation, and the third component is an auxiliary component not required to execute the first execution operation.

[0008] In this application, based on the above method, the target component corresponding to the amount of power of the energy storage battery is determined according to the state of the amount of power of the energy storage battery, thereby not only realizing assistance for the wheelchair, but also avoiding the wheelchair from being unable to be used normally due to excessive power consumption.

[0009] In one possible example, determining the first group of energy storage batteries based on the first execution operation and the first group of components includes: Based on the first execution operation, determine at least one group of related components and non-related components in the first group of components, where the related components include a plurality of first target components associated by the related operation, and the non-related components are target components of the first group of components other than the first target components. A predicted group power consumption corresponding to each group of related components is determined based on associated operations corresponding to each group of related components of the at least one group of related components, the group predicted power consumption constituting a first predicted power consumption corresponding to the at least one group of related components, and a second predicted power consumption corresponding to a non-associated component is determined based on the first performed operations. A first subgroup of energy storage batteries corresponding to a first predicted power consumption is determined, and a second subgroup of energy storage batteries corresponding to a second predicted power consumption is determined, and the first subgroup of energy storage batteries and the second subgroup of energy storage batteries constitute a first group of energy storage batteries.

[0010] In this application, it is necessary to supply power to related components corresponding to related operations in the first group of components so that the power demands of the related components can be met simultaneously. This avoids the possibility that a power shortage for a single component will affect the entire related operations. For non-related components, the power supply for each non-related component can be considered individually. Based on the above method, it is possible to improve the efficiency of selecting the first group of energy storage batteries corresponding to the first group of components from multiple energy storage batteries.

[0011] In one executable example, determining a predicted power consumption amount for a group corresponding to the associated components of each group based on an associated operation corresponding to the associated components of each group of at least one group of associated components, and determining a second predicted power consumption amount corresponding to the non-associated components based on a first executed operation includes: A first unit power consumption corresponding to the associated components of each group and a second unit power consumption corresponding to each of the non-associated components are determined. Based on the target route, a first duration of an associated operation corresponding to an associated component of each group is determined, and based on the first unit power consumption and the first duration, a predicted power consumption of the group corresponding to the associated component of each group is determined. An execution duration of the first execution operation is determined based on the target path, and a second duration is determined based on the number of unrelated components, where the second duration is longer as the number of unrelated components increases, and the second duration is shorter than the execution duration. A second predicted power consumption is determined based on the second duration and the second unit power consumption corresponding to each of the non-associated components.

[0012] In this application, the predicted power consumption of the associated components is determined based on the first duration of the associated operation in the target path, and the duration corresponding to the unassociated components is comprehensively determined based on the execution duration of the first execution operation and the number of unassociated components to determine the predicted power consumption of the unassociated components, thereby accurately predicting the power consumption of the associated components and roughly predicting the power consumption of the unassociated components, thereby ensuring the power supply for the associated operations with greater impact and improving the efficiency of power consumption prediction.

[0013] In one possible example, determining a first subgroup of energy storage batteries corresponding to a first predicted amount of power consumption and determining a second subgroup of energy storage batteries corresponding to a second predicted amount of power consumption includes: A usage state of each of the plurality of energy storage batteries is determined, the usage state including in use and not in use. When it is determined that the sum of the remaining energy amounts of the energy storage batteries not in use among the plurality of energy storage batteries is equal to or greater than the third predicted power consumption, first energy storage batteries corresponding to each associated component of the at least one group of associated components and second sub-group energy storage batteries corresponding to non-associated components are determined from the energy storage batteries not in use based on the remaining energy amounts of the energy storage batteries not in use, the predicted power consumption of the group corresponding to each associated component of the at least one group of associated components, and the second predicted power consumption, so that the remaining energy amounts of the first energy storage batteries are equal to or greater than the predicted power consumption of the group and so that the sum of the remaining energy amounts of the energy storage batteries included in the second sub-group energy storage batteries is equal to or greater than the second predicted power consumption. The energy storage batteries of the first sub-group include the first energy storage batteries corresponding to each associated component of the at least one group of associated components, and the third predicted power consumption is the sum of the first predicted power consumption and the second predicted power consumption. If it is determined that the total remaining energy of the energy storage batteries not in use among the plurality of energy storage batteries is smaller than the third predicted power consumption, a first remaining energy of the energy storage batteries in use among the plurality of energy storage batteries is determined. The first remaining energy is used to represent the remaining energy of the energy storage batteries in use other than the remaining energy for maintaining power supply to the powered devices. Based on the first remaining energy of the energy storage batteries in use, the remaining energy of the energy storage batteries not in use, the predicted power consumption of the group corresponding to each related component of the at least one group of related components, and the second predicted power consumption, a first energy storage battery corresponding to each related component of the group among the at least one group of related components and a second sub-group of energy storage batteries corresponding to the non-related components are determined from the energy storage batteries not in use, so that the remaining energy of the first energy storage battery is equal to or greater than the predicted power consumption of the group, and so that the total remaining energy of the energy storage batteries included in the second sub-group of energy storage batteries is equal to or greater than the second predicted power consumption. The smaller the predicted power consumption of a group of related components, the higher the priority of the corresponding first energy storage battery being the energy storage battery in use.

[0014] In the present application, based on the above method, a first subgroup of energy storage batteries corresponding to a first predicted power consumption and a second subgroup of energy storage batteries corresponding to a second predicted power consumption are determined from unused energy storage batteries among the plurality of energy storage batteries as much as possible, so that the first subgroup of energy storage batteries and the second subgroup of energy storage batteries can not only meet the power consumption demand when the first execution operation is performed by at least one group of associated components and non-associated components, but also prevent the wheelchair from being unable to be used normally due to the power consumption when the first execution operation is performed, and improve the efficiency of selecting corresponding energy storage batteries from the plurality of energy storage batteries.

[0015] In one possible example, controlling the first group of energy storage batteries to supply power to at least one target component in the first group of components includes: A first energy storage battery in the first subgroup of energy storage batteries is controlled to supply power to a corresponding one group of related components in the at least one group of related components. The energy storage batteries of the second subgroup are controlled to supply power to the non-associated components, and at least one energy storage battery supplying power to each of the non-associated components is determined based on the number of energy storage batteries in the energy storage batteries of the second subgroup and the remaining energy amount of each energy storage battery, so that the remaining energy amounts of the at least one energy storage battery supplying power to each of the non-associated components are all within a predetermined range.

[0016] In the present application, based on the above method, controlling the first group of energy storage batteries to supply power to at least one target component in the first group of components is advantageous for increasing the efficiency with which the energy storage device supplies power to the at least one target component.

[0017] In one possible example, after controlling the first group of energy storage batteries to supply power to at least one target component in the first group of components, the method further includes: When the first group of energy storage batteries includes a second energy storage battery that cannot supply power, determine whether the plurality of energy storage batteries includes a third energy storage battery, where the third energy storage battery is in an unused state, the remaining energy of the third energy storage battery is greater than a second preset threshold, and the second energy storage battery corresponds to the fourth component of the first group of components. If it is determined that a third energy storage battery exists in the plurality of energy storage batteries, the third energy storage battery is controlled to supply power to a fourth component. If it is determined that the plurality of energy storage batteries does not have a third energy storage battery, a fourth energy storage battery is determined from the plurality of energy storage batteries, and the fourth energy storage battery is controlled to supply power to a fourth component. The powered device corresponding to the fourth energy storage battery is an unnecessary device corresponding to the wheelchair when it advances along the target path.

[0018] In this application, the above method is used to select another battery to supply power to the fourth component that becomes unusable due to a power supply malfunction, thereby avoiding the inability to assist the wheelchair due to a power supply malfunction and further improving the stability of power supply by the energy storage battery.

[0019] In a second aspect, the present application provides a control device for an electric wheelchair, the device being applied to a controller in a wheelchair control system, the wheelchair control system further comprising a camera module and an energy storage device, the energy storage device comprising a plurality of energy storage batteries, and the device comprising a receiving unit, a determining unit, and a control unit. The receiving unit is configured to receive a target image from the camera module, the target image being an image of a road situation ahead of the wheelchair captured by the camera module. The determination unit is configured to, when determining that the current path is the target path based on the target image, determine a first execution operation corresponding to the target path and a first group of components corresponding to the first execution operation, where the first group of components includes at least one target component. The determination unit is further configured to determine a first group of energy storage batteries based on the first execution operation and the first group of components, where the first group of energy storage batteries includes at least one energy storage battery of the plurality of energy storage batteries. The control unit is configured to control the first group of energy storage batteries to supply power to at least one target component in the first group of components, and to control the at least one target component in the first group of components to operate based on the first execution operation.

[0020] In a third aspect, the present application provides an electronic device, the electronic device comprising a processor, a memory, and a communication interface, the processor, the memory, and the communication interface being connected to each other and enabling communication between them, the memory storing executable program code, and the communication interface being configured for wireless communication, the processor being configured to invoke the executable program code stored in the memory to, for example, perform some or all of the steps of any one of the methods of the first aspect.

[0021] In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon electronic data that, when executed by a processor, is used to implement some or all of the steps set forth in the first aspect of the present application.

[0022] In a fifth aspect, the present application provides a computer program product, the computer program product comprising a non-transitory computer-readable storage medium having stored thereon a computer program operable to cause a computer to perform some or all of the steps set forth in the first aspect of the present application. The computer program product may be a software installation package. [Brief explanation of the drawings]

[0023] In order to more clearly describe the embodiments of the present application or the technical solutions in the existing technology, the following briefly introduces the drawings necessary for describing the embodiments or the existing technology. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings from these drawings without creative efforts. [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a wheelchair control system according to an embodiment of the present application. [Figure 2] FIG. 2 is a flowchart showing a method for controlling an electric wheelchair according to an embodiment of the present application. [Figure 3] FIG. 3 is a schematic diagram illustrating the configuration of a target image according to an embodiment of the present application. [Figure 4] FIG. 4 is a schematic diagram illustrating the configuration of an energy storage battery status display according to an embodiment of the present application. [Figure 5] FIG. 5 is a block diagram showing the configuration of functional units of a control device for an electric wheelchair according to an embodiment of the present application. [Figure 6] FIG. 6 is a block diagram showing the configuration of the functional units of the control application device for an electric wheelchair according to an embodiment of the present application. [Figure 7] FIG. 7 is a block diagram showing the configuration of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0024] In order to help those skilled in the art better understand the technical solution of the present application, the technical solution of the embodiments of the present application will be clearly and comprehensively described below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments that can be obtained by those skilled in the art based on the embodiments in the present application without creative efforts are all within the protection scope of the present application.

[0025] In the specification, claims, and drawings of this application, terms such as "first" and "second" are used to distinguish between different objects, not to describe a particular sequence. Furthermore, terms such as "comprises," "includes," or any other variants are intended to cover and not exclude the inclusion of other elements. For example, a process, method, system, product, or device comprising a series of steps is not limited to the listed steps, but may optionally further include other steps not listed, or may optionally further include other steps specific to such process, method, product, or device.

[0026] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of the present application. Appearance of such a term anywhere in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. Those skilled in the art can explicitly or implicitly understand that the embodiments described herein can be combined with other embodiments.

[0027] Referring to Fig. 1, Fig. 1 is a schematic diagram showing the configuration of a wheelchair control system according to an embodiment of the present application. The wheelchair control system is applied to an electric wheelchair. As shown in Fig. 1, the wheelchair control system 100 includes a controller 101, an energy storage device 102, a camera module 104, and other wheelchair components 105. The energy storage device 102 includes a plurality of energy storage batteries.

[0028] The controller 101 is used to control the operation of other devices and to control the energy storage device 102 to supply power to other devices. The controller 101 may further include a Battery Management System (BMS). The BMS is used to monitor the battery status of each of the multiple energy storage batteries, for example, the amount of power in the battery.

[0029] The energy storage device 102 is used to supply power to other devices. Multiple energy storage batteries included in the energy storage device 102 may supply power to different devices, respectively. For example, among the multiple energy storage batteries, energy storage battery A supplies power to the controller 101, and energy storage battery B supplies power to the camera module 104. In addition, in order for the energy storage device 102 to supply power to other devices, current conversion by an inverter is required.

[0030] The camera module 104 is used to capture images of the road conditions in front of the wheelchair and includes one or more cameras.

[0031] Other wheelchair components 105 include other components of the wheelchair that can be electrically controlled, such as the main wheels, training wheels, backrest, pedals, etc.

[0032] In the present application, the camera module 104 captures an image of the road conditions ahead of the wheelchair. The controller 101 analyzes the image to determine whether the current route is the target route. If it is determined that the current route is the target route, it determines a corresponding first execution operation and a first group of components corresponding to the first execution operation based on the target route. The controller 101 determines a first group of energy storage batteries from the plurality of energy storage batteries based on the first execution operation and the first group of components, controls the first group of energy storage batteries to supply power to at least one target component in the first group of components, and controls the at least one target component in the first group of components to operate based on the first execution operation. As can be seen from the above, in the present application, when a special scene occurs, it determines a corresponding energy storage battery from the plurality of energy storage batteries based on corresponding additional power-consuming components in the special scene, and uses the corresponding energy storage battery to power the additional power-consuming component. This prevents the power capacity and output power of the single battery from being unable to meet the power consumption demands required while the electric wheelchair is running in special situations, reduces interference with the normal use of the electric wheelchair, improves the efficiency of the wheelchair's operation, and also improves the battery life.

[0033] Based on the above, an embodiment of the present application provides a control method for an electric wheelchair. Hereinafter, the embodiment of the present application will be described in detail with reference to the drawings.

[0034] Referring to Figure 2, Figure 2 is a flowchart showing a control method for an electric wheelchair according to an embodiment of the present application, which is applied to the above-mentioned wheelchair control system. As shown in Figure 2, the method includes the following steps:

[0035] Step S201: The controller receives a target image from the camera module.

[0036] The target image is an image of the road conditions ahead of the wheelchair captured by the camera module. The angle at which the image capturing module captures the image may also be adaptively adjusted.

[0037] Step S202: If the controller determines that the current path is the target path based on the target image, it determines a first execution operation corresponding to the target path and a first group of components corresponding to the first execution operation.

[0038] The first group of components includes at least one target component. The target route may include an uphill route, a downhill route, and a bumpy route. For example, refer to FIG. 3, which is a schematic diagram illustrating a configuration of a target image according to an embodiment of the present application. A target image 301 is shown in FIG. 3. As can be seen from the target image 301, the current route is an uphill route of the target route.

[0039] A first execution operation is associated with each path. The first execution operation is an operation for assisting (i.e., assisting) the wheelchair in traveling along the target path. For example, if the target path is an uphill path, the first execution operation is an operation for assisting the wheelchair in traveling uphill, and the operation may be an operation for using the training wheels of the wheelchair to help the wheelchair travel, and a first group of components corresponding to the first execution operation includes training wheels, a slider, and a sliding rod. The slider and the sliding rod are components for moving the training wheels to corresponding positions, that is, the slider and the sliding rod can move the training wheels to the rear of the wheelchair. The training wheels at the rear of the wheelchair promote the forward movement of the wheelchair, thereby preventing the wheelchair from tipping backward while traveling. If the target route is a downhill route, the first execution operation is an operation to assist the wheelchair in traveling downhill, and this operation can prevent the wheelchair from tipping forward while traveling downhill by adjusting the body of the wheelchair, and the first group of components corresponding to the first execution operation includes the backrest and pedals. That is, by adjusting the angle or height of the backrest and pedals, the center of gravity of the body of the wheelchair can be lowered to prevent the wheelchair from tipping forward while traveling downhill.

[0040] Hereinafter, how to determine the first group of components corresponding to the first execution operation in this step will be specifically described.

[0041] Specifically, in one possible embodiment, determining the first group of components corresponding to the first execution operation includes: The remaining energy amount corresponding to the energy storage device is obtained, and the remaining energy amount corresponding to the energy storage device includes a sum of the remaining energy amounts of the multiple energy storage batteries. If the remaining power amount corresponding to the energy storage device is less than a first preset threshold, determine that at least one first component is a first group of components corresponding to a first execution operation. When the remaining energy amount corresponding to the energy storage device is equal to or greater than a first preset threshold, determine that at least one second component is a first group of components corresponding to a first execution operation, where the at least one second component includes at least one first component and at least one third component, where the first component is an auxiliary component required to execute the first execution operation, and the third component is an auxiliary component not required to execute the first execution operation.

[0042] The first execution operation is intended to assist the wheelchair in traveling along the current path. Therefore, there may be multiple target components for the first execution operation, including necessary and unnecessary components. For example, if the target path is a downhill path, the first execution operation is intended to assist the wheelchair in traveling along the downhill path. Because forward tipping is likely to occur on a downhill path, the first execution operation is primarily used to prevent the wheelchair from tipping forward on a downhill path. Corresponding target components for preventing the wheelchair from tipping forward may include a backrest, pedals, training wheels, sliders, and sliding rods. The backrest and pedals are intended to lower the center of gravity of the wheelchair body, and the training wheels, sliders, and sliding rods are intended to move the training wheels toward the front of the wheelchair for support. Here, the backrest and pedals may be set as necessary components for the current first execution operation, and the training wheels, sliders, and sliding rods may be set as unnecessary components for the current first execution operation.

[0043] In an embodiment of the present application, the current remaining power of the energy storage device in the wheelchair is determined to determine the corresponding target components for executing the first execution operation. If the remaining power is sufficient, all auxiliary components capable of executing the first execution operation in the wheelchair are determined as target components. If the remaining power is insufficient, the auxiliary components necessary for performing the first execution operation in the wheelchair are determined as target components. In this way, by determining the target components corresponding to the power amount in accordance with the power amount status of the energy storage battery, it is possible not only to realize assistance for the wheelchair but also to avoid excessive power consumption that makes it impossible to use the wheelchair normally.

[0044] Step S203: The controller determines a first group of energy storage batteries according to the first execution operation and the first group of components.

[0045] The first group of energy storage batteries includes at least one energy storage battery of the plurality of energy storage batteries.

[0046] This step will be specifically described below.

[0047] Specifically, in one possible embodiment, determining the first group of energy storage batteries based on the first execution operation and the first group of components includes: Based on the first execution operation, determine at least one group of related components and non-related components in the first group of components, where the related components include a plurality of first target components associated by the related operation, and the non-related components are target components of the first group of components other than the first target components. A predicted group power consumption corresponding to each group of related components is determined based on associated operations corresponding to each group of related components of the at least one group of related components, the group predicted power consumption constituting a first predicted power consumption corresponding to the at least one group of related components, and a second predicted power consumption corresponding to a non-associated component is determined based on the first performed operations. A first subgroup of energy storage batteries corresponding to a first predicted power consumption is determined, and a second subgroup of energy storage batteries corresponding to a second predicted power consumption is determined, and the first subgroup of energy storage batteries and the second subgroup of energy storage batteries constitute a first group of energy storage batteries.

[0048] A group of related components includes a plurality of first target components related by a related operation. A related operation refers to an operation completed together by a plurality of first target components, and the execution purpose of the execution operations corresponding to the plurality of first target components is the same. For example, if the first group of components includes a slider, a sliding rod, and a training wheel, and the slider and the sliding rod need to cooperate to move the training wheel to a corresponding position, it can be determined that the slider and the sliding rod are a group of related components, and the training wheel is a non-related component.

[0049] The predicted power consumption of related operations corresponding to multiple target components included in a group of related components can be determined based on the power consumption of the entire related operations. This is because the power supply amount of the energy storage device to the multiple target components included in a group of related components needs to ensure that all related operations corresponding to the multiple target components can be performed. Therefore, determining the predicted power consumption of the entire group of related components is advantageous for determining the energy storage device that will subsequently supply power to the related components of the group. For non-related components, a second predicted power consumption corresponding to all non-related components is determined based on the first executed operation for statistical purposes.

[0050] The energy storage batteries of the first subgroup are used to supply power to at least one group of associated components, and the energy storage batteries of the second subgroup are used to supply power to non-associated components. The energy storage batteries of the first subgroup are determined based on the first predicted power consumption to ensure that the remaining energy of the energy storage batteries of the first subgroup can withstand the consumption of at least one group of associated components. The energy storage batteries of the second subgroup are determined based on the second predicted power consumption to ensure that the remaining energy of the energy storage batteries of the second subgroup can withstand the consumption of non-associated components.

[0051] In this application, it is necessary to supply power to related components corresponding to related operations of the first group of components so that the power demands of the related components can be met simultaneously. This avoids the possibility that a power shortage for a single component will affect the entire related operations. For non-related components, it is possible to consider the power supply for each non-related component individually. This is advantageous in improving the efficiency of selecting the first group of energy storage batteries corresponding to the first group of components from multiple energy storage batteries.

[0052] Below, we will specifically explain the above embodiment, which involves "determining the predicted power consumption of a group corresponding to the related components of each group based on the related operations corresponding to the related components of each group among the related components of at least one group, and determining the second predicted power consumption corresponding to the non-related components based on the first execution operation."

[0053] Specifically, in one executable embodiment, determining a predicted power consumption of a group corresponding to the related components of each group based on the related operations corresponding to the related components of each group of at least one group of related components, and determining a second predicted power consumption corresponding to the non-related components based on the first execution operation includes the following content: A first unit power consumption corresponding to the associated components of each group and a second unit power consumption corresponding to each of the non-associated components are determined. Based on the target route, a first duration of an associated operation corresponding to an associated component of each group is determined, and based on the first unit power consumption and the first duration, a predicted power consumption of the group corresponding to the associated component of each group is determined. An execution duration of the first execution operation is determined based on the target path, and a second duration is determined based on the number of unrelated components, where the second duration is longer as the number of unrelated components increases, and the second duration is shorter than the execution duration. A second predicted power consumption is determined based on the second duration and the second unit power consumption corresponding to each of the non-associated components.

[0054] For each related component in each group, the predicted power consumption of the group corresponding to the related component in each group is determined based on the duration of the related operation directly corresponding to the related component in each group. Determining the duration of the execution operation corresponding to each non-related component for each non-related component would consume too much memory. Therefore, in this application, a second duration corresponding to each non-related component is determined based on the execution duration of the first execution operation and the number of non-related components, and the second predicted power consumption is determined based on the second duration and the second unit power consumption corresponding to each non-related component. The reason for this is as follows: For non-related components, the duration of the execution operation corresponding to each non-related component is not necessarily the same as the execution duration of the first execution operation. If the second predicted power consumption is determined for each non-related component based on the execution duration of the first execution operation, the second predicted power consumption will be excessive, which will affect the subsequent determination of the corresponding energy storage battery. Furthermore, the greater the number of non-related components, the greater the error in the second predicted power consumption and the greater the above-mentioned impact.

[0055] Therefore, in the present application, the second duration corresponding to each of the non-related components is determined mainly based on the number of non-related components. Also, the greater the number of non-related components, the shorter the second duration. Therefore, it is possible to avoid a situation where the error in the second predicted power consumption increases as the number of non-related components increases.

[0056] In this application, the predicted power consumption of the associated components is determined based on the first duration of the associated operation in the target path, and the duration corresponding to the unassociated components is comprehensively determined based on the execution duration of the first execution operation and the number of unassociated components to determine the predicted power consumption of the unassociated components, thereby accurately predicting the power consumption of the associated components and roughly predicting the power consumption of the unassociated components, thereby ensuring the power supply for the associated operations with greater impact and improving the efficiency of power consumption prediction.

[0057] Hereinafter, the above embodiment will be described in detail with regard to "determining the energy storage batteries of the first subgroup corresponding to the first predicted power consumption amount, and determining the energy storage batteries of the second subgroup corresponding to the second predicted power consumption amount."

[0058] Specifically, in one possible embodiment, determining a first subgroup of energy storage batteries corresponding to a first predicted power consumption amount and determining a second subgroup of energy storage batteries corresponding to a second predicted power consumption amount includes the following content: A usage state of each of the plurality of energy storage batteries is determined, the usage state including in use and not in use. When it is determined that the sum of the remaining energy amounts of the energy storage batteries not in use among the plurality of energy storage batteries is equal to or greater than the third predicted power consumption, first energy storage batteries corresponding to each associated component of the at least one group of associated components and second sub-group energy storage batteries corresponding to non-associated components are determined from the energy storage batteries not in use based on the remaining energy amounts of the energy storage batteries not in use, the predicted power consumption of the group corresponding to each associated component of the at least one group of associated components, and the second predicted power consumption, so that the remaining energy amounts of the first energy storage batteries are equal to or greater than the predicted power consumption of the group and so that the sum of the remaining energy amounts of the energy storage batteries included in the second sub-group energy storage batteries is equal to or greater than the second predicted power consumption. The energy storage batteries of the first sub-group include the first energy storage batteries corresponding to each associated component of the at least one group of associated components, and the third predicted power consumption is the sum of the first predicted power consumption and the second predicted power consumption. If it is determined that the total remaining energy of the energy storage batteries not in use among the plurality of energy storage batteries is smaller than the third predicted power consumption, a first remaining energy of the energy storage batteries in use among the plurality of energy storage batteries is determined. The first remaining energy is used to represent the remaining energy of the energy storage batteries in use other than the remaining energy for maintaining power supply to the powered devices. Based on the first remaining energy of the energy storage batteries in use, the remaining energy of the energy storage batteries not in use, the predicted power consumption of the group corresponding to each related component of the at least one group of related components, and the second predicted power consumption, a first energy storage battery corresponding to each related component of the group among the at least one group of related components and a second sub-group of energy storage batteries corresponding to the non-related components are determined from the energy storage batteries not in use, so that the remaining energy of the first energy storage battery is equal to or greater than the predicted power consumption of the group, and so that the total remaining energy of the energy storage batteries included in the second sub-group of energy storage batteries is equal to or greater than the second predicted power consumption. The smaller the predicted power consumption of a group of related components, the higher the priority of the corresponding first energy storage battery being the energy storage battery in use.

[0059] To avoid affecting the normal use of the wheelchair, the first group of energy storage batteries corresponding to the first group of components are determined from currently unused energy storage batteries among the plurality of energy storage batteries as much as possible. Therefore, in this embodiment, the usage status of the plurality of energy storage batteries is determined, and the total remaining energy of unused energy storage batteries among the plurality of energy storage batteries is determined. If it is determined that the total remaining energy of the unused energy storage batteries is equal to or greater than the sum of the first predicted power consumption and the second predicted power consumption, the first subgroup of energy storage batteries corresponding to the first predicted power consumption and the second subgroup of energy storage batteries corresponding to the second predicted power consumption are determined from the unused energy storage batteries. Furthermore, in this embodiment, the remaining energy of the first energy storage batteries corresponding to the associated components of each group determined from the unused energy storage batteries must be equal to or greater than the predicted power consumption of the group of associated components of the group corresponding to the first energy storage battery. In addition, the condition must be met that the total remaining energy amount of the energy storage batteries included in the second subgroup of energy storage batteries corresponding to the non-associated components, determined from the energy storage batteries not in use, is equal to or greater than the second predicted power consumption amount.

[0060] If the total remaining energy of the unused energy storage batteries among the plurality of energy storage batteries is less than the third predicted power consumption, in addition to determining the unused energy storage batteries as the first subgroup and the second subgroup, some energy storage batteries from the used energy storage batteries must be determined as the first subgroup and the second subgroup. Because the used energy storage batteries are also necessary to maintain normal use of the wheelchair, only an amount of power equal to the third predicted power consumption minus the total remaining energy of the unused energy storage batteries needs to be supplied from the used energy storage batteries. Furthermore, because the second predicted power consumption of the unassociated components is determined mainly based on the execution duration corresponding to the first execution operation and the number of unassociated components, the second predicted power consumption cannot fully represent the duration of power supply corresponding to the unassociated components. However, the predicted power consumption of the groups corresponding to the associated components of each group can represent the duration of power supply corresponding to the associated components of each group. Therefore, when determining the first energy storage battery corresponding to each group of associated components among the at least one group of associated components among the energy storage batteries of the first subgroup, the amount of power allocated from the energy storage battery in use is preferentially allocated to the associated components of the one group whose predicted power consumption amount is smaller.

[0061] For example, there are related components in Group A, related components in Group B, and an unrelated component C, and the predicted power consumption of the group corresponding to the related components in Group A is 10, the predicted power consumption of the group corresponding to the related components in Group B is 20, and the second predicted power consumption of the unrelated component C is 40. If the total remaining energy of the energy storage batteries not in use is 60, it can be determined that the total remaining energy of the energy storage batteries not in use, 60, is smaller than the third predicted power consumption of 70 (10 + 20 + 40). Therefore, when determining the first energy storage batteries corresponding to the related components in Group A and the related components in Group B, and the second sub-group energy storage batteries corresponding to the unrelated component C, it is necessary to determine some energy storage batteries from the energy storage batteries in use as the first energy storage batteries or the energy storage batteries in the second sub-group. Because the predicted power consumption of the group corresponding to the related components in Group A is the smallest, it is preferred to determine some energy storage batteries from the energy storage batteries in use as the first energy storage batteries corresponding to the related components in Group A. Therefore, from the energy storage batteries in use, the energy storage battery with an excess power supply of 10 is determined as the first energy storage battery corresponding to the associated component of group A, and from the energy storage batteries not in use, the first energy storage battery corresponding to the associated component of group B and the energy storage batteries of the second sub-group corresponding to the non-associated component C are determined.

[0062] For example, refer to FIG. 4, which is a schematic diagram showing the configuration of displaying the status of an energy storage battery according to an embodiment of the present application. FIG. 4 shows a first battery, a second battery, and a third battery. The usage status of the first battery and the third battery is in use. The power supply target of the first battery is XSXX, and the power supply target of the third battery is XSSS. The usage status of the second battery is not in use. The remaining power of the first battery is 50%, the remaining power of the second battery is 70%, and the remaining power of the third battery is 30%.

[0063] In the present application, based on the above method, a first subgroup of energy storage batteries corresponding to a first predicted power consumption and a second subgroup of energy storage batteries corresponding to a second predicted power consumption are determined from unused energy storage batteries among the plurality of energy storage batteries as much as possible, so that the first subgroup of energy storage batteries and the second subgroup of energy storage batteries can not only meet the power consumption demand when the first execution operation is performed by at least one group of associated components and non-associated components, but also prevent the wheelchair from being unable to be used normally due to the power consumption when the first execution operation is performed, and improve the efficiency of selecting corresponding energy storage batteries from the plurality of energy storage batteries.

[0064] Step S204: The controller controls the energy storage battery of the first group to supply power to at least one target component in the first group of components, and controls the at least one target component in the first group of components to operate based on the first execution operation.

[0065] After determining the first group of energy storage batteries corresponding to the first group of components based on the above method, the first group of energy storage batteries are controlled to supply power to the first group of components, so that the first group of components assist the wheelchair in traveling along the target route, thereby improving the safety of the wheelchair traveling along the target route.

[0066] This step will be specifically described below in combination with the above embodiment.

[0067] In one possible embodiment, controlling the first group of energy storage batteries to supply power to at least one target component in the first group of components includes: A first energy storage battery in the first subgroup of energy storage batteries is controlled to supply power to a corresponding one group of related components in the at least one group of related components. The energy storage batteries of the second subgroup are controlled to supply power to the non-associated components, and at least one energy storage battery supplying power to each of the non-associated components is determined based on the number of energy storage batteries in the energy storage batteries of the second subgroup and the remaining energy amount of each energy storage battery, so that the remaining energy amounts of the at least one energy storage battery supplying power to each of the non-associated components are all within a predetermined range.

[0068] The associated components of each group of at least one group of associated components are powered by a first energy storage battery corresponding to the associated components of each group. This prevents the inability to complete the entire associated operation due to insufficient power supply of a single component in each group of associated components. The first energy storage battery may be one or more. If non-associated components are powered by the energy storage battery of the second subgroup, each non-associated component needs to be powered individually. When assigning the energy storage battery to each non-associated component, it is ensured that the remaining power corresponding to the energy storage battery powering each non-associated component is within a predetermined range as much as possible. Similarly, one non-associated component may be powered by one or more corresponding energy storage batteries. The predetermined range may be determined based on the ratio of the total remaining power of the energy storage batteries of the second subgroup to the number of non-associated components. For example, if the ratio of the total remaining power of the energy storage batteries of the second subgroup to the number of non-associated components is 25, the predetermined range may be determined to be [20-30].

[0069] In the present application, based on the above method, controlling the first group of energy storage batteries to supply power to at least one target component in the first group of components is advantageous for increasing the efficiency with which the energy storage device supplies power to the at least one target component.

[0070] Also, in one possible embodiment, after controlling the first group of energy storage batteries to supply power to at least one target component in the first group of components, the method further includes: When the first group of energy storage batteries includes a second energy storage battery that cannot supply power, determine whether the plurality of energy storage batteries includes a third energy storage battery, where the third energy storage battery is in an unused state, the remaining energy of the third energy storage battery is greater than a second preset threshold, and the second energy storage battery corresponds to the fourth component of the first group of components. If it is determined that a third energy storage battery exists in the plurality of energy storage batteries, the third energy storage battery is controlled to supply power to a fourth component. If it is determined that the plurality of energy storage batteries does not have a third energy storage battery, a fourth energy storage battery is determined from the plurality of energy storage batteries, and the fourth energy storage battery is controlled to supply power to a fourth component. The powered device corresponding to the fourth energy storage battery is an unnecessary device corresponding to the wheelchair when it advances along the target path.

[0071] During power supply, if an energy storage battery among the plurality of energy storage batteries that supplies power to a fourth component among the first group of components fails or malfunctions and cannot continue to supply power, another battery must continue to supply power to the fourth component. In this case, it is first necessary to determine whether the plurality of energy storage batteries includes a third energy storage battery that is not in use and has a remaining energy amount greater than a second preset threshold. The second preset threshold can be determined based on the amount of energy that can be stored in the energy storage battery, for example, one percent of the amount of energy that can be stored. If a third energy storage battery is present, the third energy storage battery can be directly controlled to supply power to the fourth component. If a third energy storage battery is not present, it is necessary to determine an energy storage battery that supplies power to the fourth component from among the energy storage batteries that are in use. In this case, it is determined that there is an unnecessary device, such as a camera module, present in the power receiving devices corresponding to the current plurality of energy storage batteries while traveling along the current target route, and the fourth energy storage battery that supplies power to the unnecessary device is controlled to supply power to the fourth component.

[0072] In this application, the above method is used to select another battery to supply power to the fourth component that becomes unusable due to a power supply malfunction, thereby avoiding the inability to assist the wheelchair due to a power supply malfunction and further improving the stability of power supply by the energy storage battery.

[0073] As can be seen from the above, in an embodiment of the present application, when a corresponding target route is determined to be ahead of the wheelchair based on an image of road conditions ahead of the wheelchair captured by a camera module, a first execution operation corresponding to the target route and a first group of components corresponding to the first execution operation are determined. A first group of energy storage batteries is selected from a plurality of energy storage batteries based on the first execution operation and the first group of components. The first group of energy storage batteries is controlled to supply power to at least one target component in the first group of components, and the at least one target component is controlled to operate based on the first execution operation. In this way, wheelchair assistance in special situations can be achieved and the safety of the wheelchair during operation can be improved. Furthermore, by selecting a corresponding first group of energy storage batteries from a plurality of energy storage batteries and having the first group of energy storage batteries supply power to at least one target component, excessive battery consumption due to increased power consumption during operation of the electric wheelchair in special situations can be avoided, reducing the impact on the battery when providing wheelchair assistance, improving the utilization efficiency of the plurality of energy storage batteries, and improving battery life.

[0074] As in the above-described embodiment, referring to Fig. 5, Fig. 5 is a block diagram showing the configuration of functional units of a control device for an electric wheelchair according to an embodiment of the present application. This device is applied to the controller described above. As shown in Fig. 5, the control device 50 for an electric wheelchair includes a receiving unit 501, a determining unit 502, and a control unit 503. The receiving unit 501 is configured to receive a target image from the camera module, where the target image is an image of the road conditions in front of the wheelchair captured by the camera module. The determination unit 502 is configured to, when determining that the current path is a target path based on the target image, determine a first execution operation corresponding to the target path and a first group of components corresponding to the first execution operation, where the first group of components includes at least one target component. The determination unit 502 is further configured to determine a first group of energy storage batteries based on the first execution operation and the first group of components, where the first group of energy storage batteries includes at least one energy storage battery of the plurality of energy storage batteries. The control unit 503 is configured to control the energy storage batteries of the first group to supply power to at least one target component in the first group of components, and to control the at least one target component in the first group of components to operate based on the first execution operation.

[0075] In one possible embodiment, for determining the first group of components corresponding to the first execution operation, the determining unit 502 is specifically configured to obtain a remaining power amount corresponding to an energy storage device, where the remaining power amount corresponding to the energy storage device includes a sum of the remaining power amounts of a plurality of energy storage batteries. If the remaining power amount corresponding to the energy storage device is less than a first preset threshold, the determining unit 502 is configured to determine that at least one first component is the first group of components corresponding to the first execution operation; if the remaining power amount corresponding to the energy storage device is equal to or greater than the first preset threshold, the determining unit 502 is configured to determine that at least one second component is the first group of components corresponding to the first execution operation, where the at least one second component includes at least one first component and at least one third component, where the first component is an auxiliary component required to execute the first execution operation and the third component is an auxiliary component not required to execute the first execution operation.

[0076] In one possible embodiment, for determining the first group of energy storage batteries based on the first execution operation and the first group of components, the determination unit 502 is specifically configured to determine at least one group of related components and non-related components in the first group of components based on the first execution operation, where the related components include a plurality of first target components associated by the related operation, and the non-related components are target components among the first group of components other than the first target component. The determination unit 502 is configured to determine a group predicted power consumption corresponding to the related components of each group based on the related operation corresponding to each related component of the at least one group of related components, where the predicted power consumption of the group constitutes a first predicted power consumption corresponding to the at least one group of related components. The determination unit 502 is configured to determine a second predicted power consumption corresponding to the unassociated component based on the first execution operation, the determination unit 502 is configured to determine a first sub-group of energy storage batteries corresponding to the first predicted power consumption and determine a second sub-group of energy storage batteries corresponding to the second predicted power consumption, and the first sub-group of energy storage batteries and the second sub-group of energy storage batteries constitute a first group of energy storage batteries.

[0077] In one possible embodiment, regarding determining, based on the associated operations corresponding to the associated components of each group of the at least one group of associated components, a group predicted power consumption amount corresponding to the associated components of each group, and determining, based on the first performed operation, a second predicted power consumption amount corresponding to the non-associated components, the determining unit 502 specifically: determining a first unit amount of power consumption corresponding to each associated component of each group and a second unit amount of power consumption corresponding to each non-associated component; Determine a first duration of an associated operation corresponding to each group's associated component based on the target path; determine a predicted power consumption of the group corresponding to each group's associated component based on the first unit power consumption and the first duration; The execution duration of the first execution operation is determined based on the target path, and the second duration is determined based on the number of unrelated components, and the second duration is longer as the number of unrelated components increases, and the second duration is shorter than the execution duration. The determining unit 502 is configured to determine a second predicted power consumption based on the second duration and the second unit power consumption corresponding to each of the non-associated components.

[0078] In one possible embodiment, for determining a first sub-group of energy storage batteries corresponding to a first predicted power consumption amount and determining a second sub-group of energy storage batteries corresponding to a second predicted power consumption amount, the determination unit 502 is specifically configured to determine a usage state of each of the plurality of energy storage batteries, where the usage state includes in use and not in use. When the determining unit 502 determines that the sum of the remaining energy amounts of the energy storage batteries not in use among the plurality of energy storage batteries is equal to or greater than the third predicted power consumption, the determining unit 502 is configured to determine, based on the remaining energy amounts of the energy storage batteries not in use, the predicted power consumption of the group corresponding to the related components of each group among the at least one group of related components, and the second predicted power consumption, from the energy storage batteries not in use, a first energy storage battery corresponding to each related component of the at least one group of related components and a second sub-group of energy storage batteries corresponding to the non-related components, so that the remaining energy amounts of the first energy storage batteries are equal to or greater than the predicted power consumption of the group, and so that the sum of the remaining energy amounts of the energy storage batteries included in the second sub-group of energy storage batteries is equal to or greater than the second predicted power consumption, wherein the energy storage batteries of the first sub-group include the first energy storage batteries corresponding to the related components of each group among the at least one group of related components, and the third predicted power consumption is the sum of the first predicted power consumption and the second predicted power consumption.When it is determined that the sum of the remaining energy amounts of the energy storage batteries not in use among the plurality of energy storage batteries is smaller than the third predicted power consumption amount, the determining unit 502 is configured to determine a first remaining energy amount of the energy storage batteries in use among the plurality of energy storage batteries, the first remaining energy amount being used to represent a remaining energy amount of the energy storage batteries in use other than a remaining energy amount for maintaining power supply to the powered devices, and the determining unit 502 is configured to determine a first remaining energy amount of the energy storage batteries in use, the remaining energy amount of the energy storage batteries not in use, the predicted power consumption amount of a group corresponding to the associated components of each group among the at least one group of associated components, and the second remaining energy amount of the energy storage batteries in use among the plurality of energy storage batteries, the first remaining energy amount being used to represent a remaining energy amount of the energy storage batteries in use other than a remaining energy amount for maintaining power supply to the powered devices, and the determining unit 502 is configured to determine a and determining, from the unused energy storage batteries, a first energy storage battery corresponding to each associated component of at least one group of associated components and a second sub-group of energy storage batteries corresponding to the non-associated components based on the second predicted power consumption amount, so that the remaining energy amount of the first energy storage battery is equal to or greater than the group's predicted power consumption amount, and the total remaining energy amount of the energy storage batteries included in the second sub-group of energy storage batteries is equal to or greater than the second predicted power consumption amount, and the smaller the group's predicted power consumption amount of a group of associated components, the higher the priority of the corresponding first energy storage battery being an in-use energy storage battery.

[0079] In one possible embodiment, with regard to controlling the first group of energy storage batteries to supply power to at least one target component in the first group of components, the determination unit 502 is specifically configured to control the first energy storage battery in the first subgroup of energy storage batteries to supply power to a corresponding one group of associated components in the at least one group of associated components, and control the second subgroup of energy storage batteries to supply power to non-associated components, wherein the at least one energy storage battery that supplies power to each of the non-associated components is determined based on the number of energy storage batteries in the second subgroup of energy storage batteries and the remaining energy amount of each energy storage battery, so that the remaining energy amounts of the at least one energy storage battery that supplies power to each of the non-associated components are all within a preset range.

[0080] In one possible embodiment, after controlling the energy storage batteries of the first group to supply power to at least one target component in the components of the first group, the control unit 503 is further configured to determine whether there is a third energy storage battery in the plurality of energy storage batteries when there is a second energy storage battery in the first group that is unable to supply power, and the usage status of the third energy storage battery is not in use and the remaining energy amount of the third energy storage battery is greater than a second preset threshold, and the second energy storage battery corresponds to a fourth component among the components of the first group. The control unit 503 is configured to: when it is determined that a third energy storage battery exists in the plurality of energy storage batteries, control the third energy storage battery to supply power to the fourth component; when it is determined that a third energy storage battery does not exist in the plurality of energy storage batteries, determine a fourth energy storage battery among the plurality of energy storage batteries and control the fourth energy storage battery to supply power to the fourth component, and the power receiving device corresponding to the fourth energy storage battery is an unnecessary device corresponding to the wheelchair when it advances along the target route.

[0081] As can be understood, the method embodiments and the device embodiments are different expression forms of the same technical idea, so the contents in the method embodiments of this application should be synchronously applied to the device embodiments and will not be repeated here.

[0082] When an integrated unit is used, as shown in FIG. 6, FIG. 6 is a block diagram showing the functional unit configuration of another electric wheelchair control device according to an embodiment of the present application. In FIG. 6, the electric wheelchair control application device 60 includes a processing module 612 and a communication module 611. The processing module 612 is used to control and manage the operation of the electric wheelchair control device 60, for example, the steps of the receiving unit 501, the determining unit 502, and the control unit 503, and / or other processes used to perform the techniques described herein. The communication module 611 is used to support interactions between the electric wheelchair control device and other devices. As shown in FIG. 6, the electric wheelchair control application device 60 can further include a memory module 613, which is used to store program codes and data for the electric wheelchair control device.

[0083] The processing module 612 may be a processor or controller, such as a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a transistor logic device, a hardware device, or any combination thereof. The processing module 612 may implement or execute each exemplary logic block, module, and circuit described in the disclosure of this application. The processor may be a combination that performs computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The communication module 611 may be a transceiver, a radio frequency (RF) circuit, a communication interface, etc. The storage module 613 may be a memory.

[0084] All relevant contents of each scenario in the above method embodiment can be referred to in the function description of the corresponding function module, and will not be described in detail. The above electric wheelchair control application device 60 can execute the electric wheelchair control method shown in FIG.

[0085] All or part of the above embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the above embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded and executed on a computer, all or part of the processes or functions of the embodiments of the present application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless communication. The computer-readable storage medium may be any available medium accessible by a computer, or may be a data storage device incorporating one or more available media, such as a server, data center, etc. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, or a magnetic tape), an optical medium (e.g., a digital versatile disc (DVD)), or a semiconductor medium, etc. The semiconductor medium may be a solid state disk (SSD).

[0086] 7 is a block diagram showing the configuration of an electronic device according to an embodiment of the present application. As shown in FIG. 7, the electronic device 700 may include one or more components of a processor 701, a memory 702, and a communication interface 703. The processor 701, the memory 702, and the communication interface 703 are connected to each other to realize communication therebetween. One or more computer programs may be stored in the memory 702. When the one or more computer programs are executed by the one or more processors 701, the methods described in the above embodiments are performed.

[0087] The processor 701 may include one or more processing cores. The processor 701 is connected to various components of the electronic device 700 via various interfaces and lines. The processor 701 executes instructions, programs, code sets, or instruction sets stored in the memory 702 and accesses data stored in the memory 702 to perform various functions and data processing of the electronic device 700. Alternatively, the processor 701 may be implemented using at least one hardware component selected from the group consisting of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 701 may incorporate one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. It should be understood that the modem may not be integrated into the processor 701 and may be implemented on a single chip.

[0088] The memory 702 may include random access memory (RAM) or read only memory (ROM). The memory 702 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 702 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (e.g., a touch function, a sound playback function, an image playback function, etc.), instructions for implementing each of the above method embodiments, etc. The data storage area may store data generated during use of the electronic device 700, etc.

[0089] As can be appreciated, the electronic device 700 may include more or fewer components than those in the above configuration block diagram, including, but not limited to, a power module, physical buttons, a wireless fidelity (WiFi) module, a speaker, a Bluetooth module, sensors, etc.

[0090] The electronic device 700 may be part of a controller in a wheelchair control system, or may be a device independent of the controller.

[0091] An embodiment of the present application provides a computer-readable storage medium, which stores program data, and when the program data is executed by a processor, performs some or all of the steps of any one of the control methods for an electric wheelchair described in the above method embodiments.

[0092] An embodiment of the present application further provides a computer program product, which comprises a non-transitory computer-readable storage medium having a computer program stored thereon, the computer program being operable to cause a computer to perform some or all of the steps of any one of the methods for controlling an electric wheelchair described in the method embodiments. The computer program product may be a software installation package.

[0093] It should be noted that for the sake of simplicity, the method embodiments of any one of the above-described methods for controlling an electric wheelchair are expressed as a combination of a series of operations. However, it should be understood by those skilled in the art that the present application is not limited to the order of operations described, and that some steps may be performed in other orders or simultaneously based on the present application. It should also be understood by those skilled in the art that any of the embodiments described in the specification are preferred embodiments, and that such operations are not necessarily required for the present application.

[0094] Although the present application has been described herein with reference to various embodiments, other variations of the disclosed embodiments can, however, be understood and effected by those skilled in the art in the course of practicing the claimed application, from a study of the accompanying drawings, the disclosure, and the appended claims. In the claims, the word "comprises" does not mean to exclude other elements or steps, and the words "a" or "an" do not exclude a plurality. The mere fact that certain measures are recited in different dependent claims does not indicate that they cannot be combined to good effect.

[0095] Those skilled in the art can understand that some or all of the steps in each method of any one of the above-mentioned embodiments of the method for controlling an electric wheelchair can be achieved by a program instructing related hardware. The program can be stored in a computer-readable storage medium. The storage medium can include a flash memory, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, etc.

[0096] The above is a detailed description of the embodiments of the present application. In this specification, specific examples are used to explain the principles and embodiments of the electric wheelchair control method and related devices of the present application. The above description of the embodiments is only used to facilitate understanding of the method and core idea of ​​the present application. Furthermore, those skilled in the art will recognize that specific embodiments and application scopes may vary based on the ideas of the electric wheelchair control method and related devices of the present application. As stated above, this specification should not be construed as limiting the present application.

[0097] The present application is described with reference to flowcharts and / or block diagrams of methods, hardware products, and computer program products according to embodiments of the present application. Note that each process and / or block in the flowcharts and / or block diagrams, and combinations of processes and / or blocks in the flowcharts and / or block diagrams, may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine. The instructions, executed by the processor of the computer or other programmable data processing device, then produce an apparatus that can be used to implement the functions specified in one or more processes in the flowcharts and / or one or more blocks in the block diagrams.

[0098] These computer program instructions can be stored on a computer-readable storage medium that can direct a computer or other programmable data processing apparatus to operate in a particular manner, whereby the instructions stored on the computer-readable storage medium result in an article of manufacture that includes an instruction apparatus that implements the functions specified in one or more processes in the flowcharts and / or one or more blocks in the block diagrams.

[0099] These computer program instructions can be loaded into a computer or other programmable data processing device and cause the computer or other programmable device to perform a series of operational steps to generate a computer-implemented process, where the instructions executed on the computer or other programmable device provide the steps used to implement the functions specified in one or more processes of the flowcharts and / or one or more blocks of the block diagrams.

[0100] As can be understood, any product controlled or configured to execute the processing method of the flowchart described in the method embodiment of the control method for an electric wheelchair of the present application, for example, the terminal and computer program product of the flowchart, all fall within the scope of the related products described in the present application.

[0101] Obviously, those skilled in the art can make various modifications and variations to the control method and related device of the electric wheelchair of the present application without departing from the spirit and scope of the present application. If the modifications and variations to the present application are within the scope of the claims of the present application and their technical equivalents, the present application intends to include such modifications and variations.

Claims

1. A method for controlling an electric wheelchair, comprising: The method is applied to a controller in a wheelchair control system, the wheelchair control system further comprising a camera module and an energy storage device, the energy storage device comprising a plurality of energy storage batteries, and the method includes: receiving a target image from the camera module, the target image being an image of a road condition ahead of the wheelchair captured by the camera module; If it is determined that the current path is a target path based on the target image, determining a first execution operation corresponding to the target path and a first group of components corresponding to the first execution operation, wherein the first group of components includes at least one target component; determining a first group of energy storage cells based on the first execution operation and the first group of components, the first group of energy storage cells including at least one energy storage cell of the plurality of energy storage cells; controlling the first group of energy storage batteries to supply power to at least one target component in the first group of components, and controlling the at least one target component in the first group of components to operate based on the first execution operation; Including, A method for controlling an electric wheelchair.

2. Determining a first group of energy storage cells based on the first execution operation and the first group of components includes: determining, based on the first execution operation, at least one group of related components and unrelated components in the first group of components, wherein the related components include a plurality of first target components related by an association operation, and the unrelated components are target components of the first group of components other than the first target components; determining a group predicted power consumption corresponding to each group of related components based on associated operations corresponding to each group of related components of the at least one group of related components, wherein the group predicted power consumption constitutes a first predicted power consumption corresponding to the at least one group of related components; and determining a second predicted power consumption corresponding to the non-related components based on the first performed operations; determining a first subgroup of energy storage batteries corresponding to the first predicted power consumption amount and a second subgroup of energy storage batteries corresponding to the second predicted power consumption amount, wherein the first subgroup of energy storage batteries and the second subgroup of energy storage batteries constitute the first group of energy storage batteries; Including, 2. The method of claim 1 .

3. determining a group predicted power consumption amount corresponding to each group of related components based on an associated operation corresponding to each group of related components among the at least one group of related components, and determining a second predicted power consumption amount corresponding to the non-related components based on the first performed operation; determining a first unit amount of power consumption corresponding to each associated component of the group and a second unit amount of power consumption corresponding to each of the non-associated components; Determine a first duration of an associated operation corresponding to the associated component of each group based on the target route, and determine a predicted power consumption of the group corresponding to the associated component of each group based on the first unit power consumption and the first duration; determining an execution duration of the first execution operation based on the target path, and determining a second duration based on the number of the non-associated components, wherein the second duration is shorter as the number of the non-associated components increases, and the second duration is shorter than the execution duration; determining the second predicted power consumption based on the second duration and a second unit power consumption corresponding to each of the non-associated components; Including, 3. The method of claim 2.

4. Determining a first subgroup of energy storage batteries corresponding to the first predicted power consumption amount and determining a second subgroup of energy storage batteries corresponding to the second predicted power consumption amount includes: determining a usage state of each of the plurality of energy storage batteries, the usage state including in use and out of use; when it is determined that the sum of the remaining energy amounts of energy storage batteries not in use among the plurality of energy storage batteries is equal to or greater than a third predicted power consumption amount, determine, from the energy storage batteries not in use, first energy storage batteries corresponding to each associated component of the at least one group of associated components and the second sub-group of energy storage batteries corresponding to the non-associated components based on the remaining energy amounts of the energy storage batteries not in use, the predicted power consumption amounts of groups corresponding to each associated component of the at least one group of associated components, and the second predicted power consumption amount, so that the remaining energy amounts of the first energy storage batteries are equal to or greater than the predicted power consumption amount of the group, and so that the sum of the remaining energy amounts of energy storage batteries included in the energy storage batteries of the second sub-group is equal to or greater than the second predicted power consumption amount, wherein the energy storage batteries of the first sub-group include first energy storage batteries corresponding to each associated component of the at least one group of associated components, and the third predicted power consumption amount is the sum of the first predicted power consumption amount and the second predicted power consumption amount; determining a first remaining energy amount of an in-use energy storage battery among the plurality of energy storage batteries when it is determined that the sum of the remaining energy amounts of the energy storage batteries not in use among the plurality of energy storage batteries is smaller than the third predicted power consumption amount, wherein the first remaining energy amount is used to represent a remaining energy amount of the in-use energy storage battery other than a remaining energy amount for maintaining power supply to a powered device; and determining the first remaining energy amount of the in-use energy storage battery, the remaining energy amount of the energy storage battery not in use, predicted power consumption amounts of a group corresponding to each associated component of the at least one group of associated components, and the second predicted power consumption amount. and determining, from the unused energy storage batteries, first energy storage batteries corresponding to each associated component of the at least one group of associated components and the second sub-group of energy storage batteries corresponding to the non-associated components based on the amount of energy storage batteries remaining, so that the remaining energy amount of the first energy storage batteries is equal to or greater than the predicted power consumption amount of the group, and the total remaining energy amount of the energy storage batteries included in the second sub-group of energy storage batteries is equal to or greater than the second predicted power consumption amount, and the smaller the predicted power consumption amount of a group of associated components, the higher the priority of the corresponding first energy storage battery being an in-use energy storage battery; Including, 4. The method according to claim 2 or 3.

5. Controlling the first group of energy storage batteries to supply power to at least one target component in the first group of components includes: Controlling a first energy storage battery in the first subgroup of energy storage batteries to supply power to a corresponding group of related components in the at least one group of related components; Controlling the second subgroup of energy storage batteries to supply power to the non-associated components, wherein at least one energy storage battery supplying power to each of the non-associated components is determined based on the number of energy storage batteries in the second subgroup of energy storage batteries and the remaining energy amount of each energy storage battery, so that the remaining energy amount of the at least one energy storage battery supplying power to each of the non-associated components is all within a preset range; Including, 5. The method of claim 4.

6. Determining a first group of components corresponding to the first execution operation includes: Obtaining a remaining energy amount corresponding to the energy storage device, wherein the remaining energy amount corresponding to the energy storage device comprises a sum of the remaining energy amounts of the plurality of energy storage batteries; When the remaining energy amount corresponding to the energy storage device is less than a first preset threshold, determining that at least one first component is a first group of components corresponding to the first execution operation; When the remaining energy amount corresponding to the energy storage device is equal to or greater than the first preset threshold, determining that at least one second component is a first group of components corresponding to the first execution operation, the at least one second component including the at least one first component and at least one third component, the first component being an auxiliary component required to execute the first execution operation, and the third component being an auxiliary component not required to execute the first execution operation; Including, 4. The method according to claim 1, wherein the first and second electrodes are connected to a first electrode.

7. The method comprises: When the first group of energy storage batteries includes a second energy storage battery that cannot supply power, determining whether the plurality of energy storage batteries includes a third energy storage battery, where the usage state of the third energy storage battery is not in use, the remaining energy amount of the third energy storage battery is greater than a second preset threshold, and the second energy storage battery corresponds to a fourth component among the first group of components; When it is determined that the third energy storage battery is present in the plurality of energy storage batteries, controlling the third energy storage battery to supply power to the fourth component; When it is determined that the third energy storage battery does not exist in the plurality of energy storage batteries, determining a fourth energy storage battery among the plurality of energy storage batteries, and controlling the fourth energy storage battery to supply power to the fourth component, wherein the power receiving device corresponding to the fourth energy storage battery is an unnecessary device corresponding to when the wheelchair advances along the target route; further comprising:

2. The method of claim 1 .

8. A control device for an electric wheelchair, The apparatus is applied to a controller in a wheelchair control system, the wheelchair control system further comprising a camera module and an energy storage device, the energy storage device comprising a plurality of energy storage batteries, the apparatus comprising: a receiving unit, a determining unit, and a control unit; the receiving unit is configured to receive a target image from the camera module, the target image being an image of a road condition ahead of the wheelchair captured by the camera module; the determination unit is configured to, when determining that the current path is a target path based on the target image, determine a first execution operation corresponding to the target path and a first group of components corresponding to the first execution operation, where the first group of components includes at least one target component; The determination unit is further configured to determine a first group of energy storage batteries based on the first execution operation and the first group of components, where the first group of energy storage batteries includes at least one energy storage battery among the plurality of energy storage batteries; The control unit is configured to control the first group of energy storage batteries to supply power to at least one target component in the first group of components, and to control the at least one target component in the first group of components to operate based on the first execution operation. A control device for an electric wheelchair.

9. An electronic device, the electronic device comprises a processor, a memory, and a communication interface; the processor, the memory, and the communication interface are connected to each other to realize communication therebetween; the memory stores executable program code, and the communication interface is configured to perform wireless communication; The processor is configured to invoke the executable program code stored in the memory to perform the method of any one of claims 1 to 7. An electronic device characterized by:

10. 1. A computer-readable storage medium, comprising: The computer-readable storage medium stores a computer program for electronic data exchange, the computer program causing a computer to perform the method according to any one of claims 1 to 7. A computer-readable storage medium comprising:

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