Control method for electric wheelchair and related apparatus

Abstract

Provided in the present application are a control method for an electric wheelchair and a related apparatus. The method comprises: when it is determined on the basis of the condition of a road ahead of a wheelchair photographed by a camera module that there is a corresponding target path ahead of the wheelchair, determining a first execution operation corresponding to the target path and a first group of components corresponding to the first execution operation; according to the first execution operation and the first group of components, determining a first group of energy storage batteries from among a plurality of energy storage batteries; controlling the first group of energy storage batteries to supply power to at least one target component among the first group of components; and, according to the first execution operation, controlling the at least one target component to operate. Thus, the present application not only assists the wheelchair in special scenarios, but also increases the utilization efficiency of the plurality of energy storage batteries.

Description

Control method and related device of electric wheelchair

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 15, 2023, with application number 2023115165538 and application name “Control method and related device for electric wheelchair”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the general field of control technology, and in particular to a control method and related devices for an electric wheelchair. Background Art

[0003] Currently, electric wheelchairs generally use independent batteries to support the operation of all components in the electric wheelchair. When there are other special situations such as uphill, the power consumption of the electric wheelchair during movement will increase, resulting in an increase in the power consumption of the electric wheelchair, and then the power output of the independent battery needs to be increased. However, this not only easily leads to battery failure, but also reduces the battery life, thereby affecting the normal use of the electric wheelchair.

[0004] Summary of the Invention

[0005] The present application provides a control method and related devices for an electric wheelchair, which determines the auxiliary operation of the wheelchair corresponding to a special scenario and the auxiliary components corresponding to the auxiliary operation, and selects the corresponding energy storage battery from multiple energy storage batteries to power the auxiliary components to perform the corresponding auxiliary operation, thereby avoiding excessive consumption of a single battery due to increased power consumption when the electric wheelchair is moving in special scenarios, and improving the utilization efficiency of multiple energy storage batteries.

[0006] 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 also including a camera module and an energy storage device, the energy storage device including a plurality of energy storage batteries, the method comprising:

[0007] Receiving a target image from the camera module, where the target image is an image of the road condition in front of the wheelchair taken by the camera module;

[0008] If the current path is determined to be the target path according to 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;

[0009] determining a first group of energy storage batteries according to the first execution operation and the first group of components, the first group of energy storage batteries including at least one energy storage battery from the plurality of energy storage batteries;

[0010] 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 according to a first execution operation.

[0011] It can be seen that in this application, not only can the wheelchair be assisted in special scenarios, thereby improving the safety of the wheelchair during operation; at the same time, the first group of energy storage batteries corresponding to the first execution operation and the first group of components are determined from multiple energy storage batteries, and at least one target component in the first group of components is powered by the first group of energy storage batteries. This process enables the power provided by the energy storage battery to meet the requirements of the first execution operation (the high-power operation required for the wheelchair to perform in special scenarios), while avoiding excessive battery consumption that may be caused by the mismatch between the power of a single battery and the requirements of the first execution operation. This process improves the efficiency of the wheelchair's execution of operations and increases the service life of the battery.

[0012] In a feasible example, determining the first group of components corresponding to the first execution operation includes: obtaining the remaining power corresponding to the energy storage device, the remaining power corresponding to the energy storage device includes the sum of the remaining power of multiple energy storage batteries; if the remaining power corresponding to the energy storage device is less than a first preset threshold, determining at least one first component as the first group of components corresponding to the first execution operation; if the remaining power corresponding to the energy storage device is not less than the first preset threshold, determining at least one second component as the first group of components corresponding to the first execution operation, the at least one second component includes at least one first component and at least one third component, the first component is a necessary auxiliary component for performing the first execution operation, and the third component is a non-essential auxiliary component for performing the first execution operation.

[0013] In this application, the above method is used to determine the target component corresponding to the power level of the energy storage battery according to the power level of the energy storage battery, which can not only provide assistance to the wheelchair, but also avoid excessive power consumption that causes the wheelchair to be unable to be used normally.

[0014] In a feasible example, determining a first group of energy storage batteries based on a first execution operation and a first group of components includes: determining at least one group of associated components and non-associated components in the first group of components based on the first execution operation, wherein the associated components include multiple first target components with associated operations, and the non-associated components are target components other than the first target components in the first group of components; determining a grouped predicted power consumption corresponding to each group of associated components based on the associated operations corresponding to each group of associated components in at least one group of associated components, the grouped predicted power consumption constituting a first predicted power consumption corresponding to at least one group of associated components, and determining a second predicted power consumption corresponding to the non-associated components based on the first execution operation; determining a first grouped energy storage battery corresponding to the first predicted power consumption, and determining a second grouped energy storage battery corresponding to the second predicted power consumption, the first grouped energy storage battery and the second grouped energy storage battery constituting a first group of energy storage batteries.

[0015] In this application, for the associated components in the first group of components corresponding to the associated operation, it is necessary to provide power supply that can simultaneously meet the needs of the associated components to avoid the possibility that a single component cannot be fully powered and may affect the entire associated operation. The power supply of each non-associated component can be considered separately. The above method is conducive to improving the efficiency of selecting the first group of energy storage batteries corresponding to the first group of components from multiple energy storage batteries.

[0016] In a feasible example, the group predicted power consumption corresponding to each group of associated components is determined based on the associated operation corresponding to each group of associated components in at least one group of associated components, and the second predicted power consumption corresponding to the non-associated components is determined based on the first execution operation, including: determining the first unit power consumption corresponding to each group of associated components, and the second unit power consumption corresponding to each component in the non-associated components; determining the first duration of the associated operation corresponding to each group of associated components based on the target path, and determining the group predicted power consumption of each group of associated components based on the first unit power consumption and the first duration; determining the execution duration of the first execution operation based on the target path, and determining the second duration based on the number of non-associated components, wherein the more the number of non-associated components, the longer the second duration, and the second duration is less than the execution duration; determining the second predicted power consumption based on the second duration and the second unit power consumption corresponding to each component.

[0017] In this application, the predicted power usage of associated components is determined by combining the first duration of the associated operation in the target path. The predicted power usage of non-associated components is determined by comprehensively determining the duration of the non-associated components based on the execution duration of the first execution operation and the number of non-associated components. This allows for precise power usage prediction of associated components and fuzzy power usage prediction of non-associated components, ensuring power supply for the more impactful associated operations while improving the efficiency of power usage prediction.

[0018] In one feasible example, determining a first group of energy storage batteries corresponding to a first predicted power consumption, and determining a second group of energy storage batteries corresponding to a second predicted power consumption, includes: determining usage status of a plurality of energy storage batteries, where the usage status includes in use and out of use; if it is determined that the sum of the remaining power of the non-in-use energy storage batteries among the plurality of energy storage batteries is not less than a third predicted power consumption, then determining, from the non-in-use energy storage batteries, a first energy storage battery corresponding to each group of associated components in at least one group of associated components, and a second group of energy storage batteries corresponding to the non-associated components, based on the remaining power of the non-in-use energy storage batteries, the group predicted power consumption corresponding to each of at least one group of associated components, and the second predicted power consumption, so that the remaining power of the first energy storage battery is not less than the group predicted power consumption, and the sum of the remaining power of the energy storage batteries included in the second group of energy storage batteries is not less than the second predicted power consumption, the first group of energy storage batteries includes the first energy storage batteries corresponding to each 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;

[0019] If it is determined that the sum of the remaining capacities of the non-in-use energy storage batteries among the multiple energy storage batteries is less than the third predicted power consumption, a first remaining capacities of the energy storage batteries in use among the multiple energy storage batteries is determined, where the first remaining capacities represent the remaining capacity of the remaining capacities of the energy storage batteries in use, excluding the capacity used to maintain the power supply to the equipment in use. Based on the first remaining capacities of the energy storage batteries in use, the remaining capacities of the non-in-use energy storage batteries, the grouped predicted power consumption corresponding to at least one group of associated components, and the second predicted power consumption, first energy storage batteries corresponding to at least one group of associated components and second grouped energy storage batteries corresponding to the non-associated components are determined from the non-in-use energy storage batteries, so that the remaining capacity of the first energy storage batteries is not less than the grouped predicted power consumption, and the sum of the remaining capacities of the energy storage batteries included in the second grouped energy storage batteries is not less than the second predicted power consumption. A group of associated components with a smaller grouped predicted power consumption has a higher priority as the energy storage battery in use.

[0020] In the present application, the above method is used to determine the first group of energy storage batteries corresponding to the first predicted power consumption and the second group of energy storage batteries corresponding to the second predicted power consumption from the non-in-use energy storage batteries among the multiple energy storage batteries as much as possible. This not only allows the first group of energy storage batteries and the second group of energy storage batteries to meet the power requirements of at least one group of associated components and non-associated components when performing the first execution operation, but also avoids the wheelchair from being unable to be used normally due to the power consumption when performing the first execution operation. At the same time, it is also beneficial to improve the efficiency of selecting the corresponding energy storage battery from multiple energy storage batteries.

[0021] In a feasible 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: controlling the first energy storage battery in the first group of energy storage batteries to supply power to a corresponding group of associated components in at least one group of associated components; and controlling the second group of energy storage batteries to supply power to non-associated components, wherein the at least one energy storage battery supplying power to each component in the non-associated components is determined based on the number of energy storage batteries in the second group and the remaining power of each energy storage battery, so that the remaining power of the at least one energy storage battery supplying power to each component is within a preset range.

[0022] In the present application, controlling the first group of energy storage batteries to supply power to at least one target component in the first group of components through the above method is beneficial to improving the efficiency of the energy storage device in supplying power to the at least one target component.

[0023] In a feasible 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: if there is a second energy storage battery in the first group of energy storage batteries that cannot supply power, determining whether there is a third energy storage battery among the multiple energy storage batteries, the usage status of the third energy storage battery is not in use, and the remaining power is greater than a second preset threshold, and the second energy storage battery corresponds to the fourth component in the first group of components; if it is determined that there is a third energy storage battery among the multiple energy storage batteries, controlling the third energy storage battery to supply power to the fourth component; if it is determined that there is no third energy storage battery among the multiple energy storage batteries, determining a fourth energy storage battery among the multiple energy storage batteries, and controlling the fourth energy storage battery to supply power to the fourth component, and the powered device corresponding to the fourth energy storage battery is a non-essential device corresponding to the wheelchair when moving along the target path.

[0024] In the present application, by selecting other batteries to power the fourth component that cannot be used due to power supply problems in the above manner, the inability to achieve auxiliary use of the wheelchair due to power supply problems can be avoided, thereby improving the stability of power supply by the energy storage battery.

[0025] In a second aspect, the present application provides a control device for an electric wheelchair, which is applied to a controller in a wheelchair control system. The wheelchair control system also includes a camera module and an energy storage device, which includes multiple energy storage batteries. The device includes:

[0026] a receiving unit configured to receive a target image from the camera module, where the target image is an image of the road condition in front of the wheelchair taken by the camera module;

[0027] a determining unit configured to, if the current path is determined to be the target path according to 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, wherein the first group of components includes at least one target component;

[0028] a determining unit, further configured to determine a first group of energy storage batteries according to the first execution operation and the first group of components, the first group of energy storage batteries including at least one energy storage battery among the plurality of energy storage batteries;

[0029] 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 control the at least one target component in the first group of components to operate according to the first execution operation.

[0030] In a third aspect, the present application provides an electronic device comprising a processor, a memory, and a communication interface. The processor, memory, and communication interface are interconnected and perform communication with each other. The memory stores executable program code, the communication interface is used for wireless communication, and the processor is used to retrieve the executable program code stored in the memory and execute some or all of the steps described in any method of the first aspect.

[0031] In a fourth aspect, the present application provides a computer-readable storage medium, in which electronic data is stored. When the electronic data is executed by a processor, the electronic data is used to execute the electronic data to implement some or all of the steps described in the first aspect of the present application.

[0032] In a fifth aspect, the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps described in the first aspect of the present application. The computer program product may be a software installation package. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] FIG1 is a schematic structural diagram of a wheelchair control system provided in an embodiment of the present application;

[0035] FIG2 is a flow chart of a method for controlling an electric wheelchair according to an embodiment of the present application;

[0036] FIG3 is a schematic diagram of the structure of a target image provided in an embodiment of the present application;

[0037] FIG4 is a schematic structural diagram of an energy storage battery status display provided in an embodiment of the present application;

[0038] FIG5 is a block diagram of the functional units of a control device for an electric wheelchair provided in an embodiment of the present application;

[0039] FIG6 is a block diagram of the functional units of a control application device for an electric wheelchair provided in an embodiment of the present application;

[0040] FIG7 is a structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] The terms "first," "second," and so on, in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps is not limited to the listed steps but may optionally include steps not listed, or may optionally include other steps inherent to the process, method, product, or apparatus.

[0043] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0044] Please refer to Figure 1, which is a structural diagram of a wheelchair control system provided in an embodiment of the present application. The wheelchair control system is applied to an electric wheelchair. As shown in Figure 1, the wheelchair control system 100 includes a controller 101, an energy storage device 102, a camera module 104 and other wheelchair components 105, wherein the energy storage device 102 includes multiple energy storage batteries.

[0045] The controller 101 is used to control the operation of other devices and control the energy storage device 102 to supply power to other devices. The controller 101 may also include a battery management system (BMS) for monitoring the battery status of multiple energy storage batteries, such as the battery power level.

[0046] Energy storage device 102 is used to power other devices. It includes multiple energy storage batteries that can each power different devices. For example, battery A powers controller 101, while battery B powers camera module 104. Furthermore, energy storage device 102 also requires an inverter to convert current to power other devices.

[0047] The camera module 104 is used to collect images of the road conditions in front of the wheelchair. The camera module 104 includes one or more cameras.

[0048] Other wheelchair components 105 include other components in the wheelchair that can be electrically controlled, such as the main wheels of the wheelchair, auxiliary wheels, backrest, pedals, etc.

[0049] In the present application, the camera module 104 captures an image of the road conditions in front of the wheelchair, and the controller 101 analyzes the image to determine whether the current path is the target path. If the current path is determined to be the target path, the controller 101 determines the corresponding first execution operation and the first group of components corresponding to the first execution operation based on the target path. The controller 101 determines a first group of energy storage batteries from a plurality of energy storage batteries based on the first execution operation and the first group of components, and controls the first group of energy storage batteries to power at least one target component in the first group of components, and controls the operation of at least one target component in the first group of components based on the first execution operation. It can be seen that when there is a special scenario, the present application determines the corresponding energy storage battery from a plurality of energy storage batteries based on the additional power-consuming components corresponding to the special scenario to power it, thereby avoiding the situation where the power and output power of a single battery cannot meet the power consumption required for the electric wheelchair to move in the special scenario, reducing the impact on the normal use of the electric wheelchair, while improving the efficiency of the wheelchair's execution operations, and thereby increasing the battery life.

[0050] Based on this, an embodiment of the present application provides a method for controlling an electric wheelchair, which is described in detail below with reference to the accompanying drawings.

[0051] Please refer to FIG2 , which is a flow chart of a method for controlling an electric wheelchair provided in an embodiment of the present application. The method is applied to the above-mentioned wheelchair control system. As shown in FIG2 , the method includes the following steps:

[0052] In step S201 , the controller receives a target image from the camera module.

[0053] Among them, the target image is an image of the road condition in front of the wheelchair taken by the camera module, and the angle at which the camera module takes the image can also be adaptively adjusted.

[0054] In step S202 , if the controller determines that the current path is the target path according to the target image, the controller determines a first execution operation corresponding to the target path and a first group of components corresponding to the first execution operation.

[0055] The first group of components includes at least one target component. The target path may include an uphill path, a downhill path, or a bumpy path. For example, referring to FIG. 3 , FIG. 3 is a schematic diagram of a target image structure provided in an embodiment of the present application. As shown in FIG. 3 , target image 301 is included. Target image 301 indicates that the current path is an uphill path within the target path.

[0056] Each path has a corresponding first execution operation, which is an operation used to assist the wheelchair in moving along the target path. For example, if the target path is an uphill path, the first execution operation refers to an operation for assisting the wheelchair in moving uphill. This operation can be to assist the wheelchair in moving along the wheelchair through the auxiliary wheels of the wheelchair. In this case, the first group of components corresponding to the first execution operation includes the auxiliary wheels, a slider, and a slide bar. The slider and slide bar are components used to move the auxiliary wheels to the corresponding position. That is, the auxiliary wheels can be moved to the rear of the wheelchair through the slider and slide bar. By driving the auxiliary wheels forward behind the wheelchair, the wheelchair can also be prevented from tilting backward during movement. If the target path is a downhill path, the first execution operation refers to an operation for assisting the target path in moving downhill. This operation can be to prevent the wheelchair from tilting forward when moving downhill by adjusting the main body of the wheelchair. In this case, the first group of components corresponding to the first execution operation includes the backrest and footrests. That is, by adjusting the angle or height of the backrest and footrests, the center of gravity of the main body of the wheelchair can be lowered, thereby preventing the wheelchair from tilting forward when moving downhill.

[0057] The following specifically describes how to determine the first group of components corresponding to the first execution operation in the current step:

[0058] Specifically, in a feasible embodiment, determining the first group of components corresponding to the first execution operation includes: obtaining the remaining power corresponding to the energy storage device, the remaining power corresponding to the energy storage device includes the sum of the remaining power of multiple energy storage batteries; if the remaining power corresponding to the energy storage device is less than a first preset threshold, determining at least one first component as the first group of components corresponding to the first execution operation; if the remaining power corresponding to the energy storage device is not less than the first preset threshold, determining at least one second component as the first group of components corresponding to the first execution operation, the at least one second component includes at least one first component and at least one third component, the first component is a necessary auxiliary component for performing the first execution operation, and the third component is a non-essential auxiliary component for performing the first execution operation.

[0059] Among them, the first execution operation is to assist the wheelchair to move on the current path. Therefore, there may be multiple target components for the first execution operation, and among these multiple target components, there are also necessary components and non-essential components. For example, if the target path is a downhill path, the first execution operation is to assist the wheelchair to move on the downhill path. It is easy to tilt forward on a downhill path. Therefore, the first execution operation is mainly to prevent the wheelchair from tilting forward on the downhill path. The target components corresponding to preventing the wheelchair from tilting forward may include a backrest, footrests, auxiliary wheels, sliders and slide bars. The backrest and footrests are used to lower the center of gravity of the wheelchair body, and the auxiliary wheels, sliders and slide bars are used to move the auxiliary wheels to the front of the wheelchair for support. Here, the backrest and footrests can be set as necessary components under the current first execution operation, and the auxiliary wheels, sliders and slide bars can be set as non-essential components under the current first execution operation.

[0060] In an embodiment of the present application, the target component corresponding to the first execution operation is determined by determining the current remaining power level of the energy storage device in the wheelchair. When the remaining power is sufficient, all auxiliary components in the wheelchair that can execute the first execution operation are determined as target components. When the remaining power is insufficient, the auxiliary components necessary for executing the first execution operation are determined as target components. In this way, determining the target component corresponding to the power level of the energy storage battery based on the power level not only provides assistance to the wheelchair but also prevents the wheelchair from being unable to operate normally due to excessive power consumption.

[0061] In step S203 , the controller determines a first group of energy storage batteries according to the first execution operation and the first group of components.

[0062] The first group of energy storage batteries includes at least one energy storage battery among the plurality of energy storage batteries.

[0063] The following is a detailed description of the current steps:

[0064] Specifically, in a feasible embodiment, determining a first group of energy storage batteries based on a first execution operation and a first group of components includes: determining at least one group of associated components and non-associated components in the first group of components based on the first execution operation, wherein the associated components include multiple first target components with associated operations, and the non-associated components are target components other than the first target components in the first group of components; determining a grouped predicted power consumption corresponding to each group of associated components based on the associated operations corresponding to each group of associated components in at least one group of associated components, the grouped predicted power consumption constituting a first predicted power consumption corresponding to at least one group of associated components, and determining a second predicted power consumption corresponding to the non-associated components based on the first execution operation; determining a first grouped energy storage battery corresponding to the first predicted power consumption, and determining a second grouped energy storage battery corresponding to the second predicted power consumption, the first grouped energy storage battery and the second grouped energy storage battery constituting a first group of energy storage batteries.

[0065] A group of associated components includes multiple first-target components with associated operations. An associated operation means that the operations corresponding to the multiple first-target components have the same execution purpose and require the cooperation of multiple first-target components to complete the operation. For example, if the first group of components includes a slider, a slide bar, and auxiliary wheels, and the slider and slide bar need to work together to move the auxiliary wheels to the corresponding position, then the slider and slide bar can be determined to be a group of associated components, while the auxiliary wheels can be determined to be non-associated components.

[0066] The predicted power consumption of the associated operations corresponding to the multiple target components included in a group of associated components can be determined based on the power consumption of the entire associated operation. This is because the energy storage device's power supply to the multiple target components included in a group of associated components must ensure that the associated operations corresponding to the multiple target components can be performed as a whole. Therefore, determining the predicted power consumption of the entire group of associated components facilitates the subsequent determination of the energy storage battery that will power the group of associated components. For non-associated components, for statistical convenience, the second predicted power consumption corresponding to all non-associated components is determined based on the first executed operation.

[0067] The first group of energy storage batteries is used to power at least one group of associated components, and the second group of energy storage batteries is used to power non-associated components. The first group of energy storage batteries is determined based on the first predicted power consumption to ensure that the remaining power of the first group of energy storage batteries can support the consumption of at least one group of associated components, and the second group of energy storage batteries is determined based on the second predicted power consumption to ensure that the remaining power of the second group of energy storage batteries can support the consumption of non-associated components.

[0068] In this application, for the associated components in the first group of components corresponding to the associated operation, it is necessary to provide power supply that can simultaneously meet the needs of the associated components to avoid the possibility that a single component cannot be fully powered and may affect the entire associated operation. The power supply of each non-associated component can be considered separately. This helps 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.

[0069] The following is a detailed description of the above embodiment of "determining the group predicted power usage corresponding to each group of associated components according to the associated operation corresponding to each group of associated components in at least one group of associated components, and determining the second predicted power usage corresponding to the non-associated components according to the first execution operation":

[0070] Specifically, in a feasible embodiment, the group predicted power consumption corresponding to each group of associated components is determined based on the associated operation corresponding to each group of associated components in at least one group of associated components, and the second predicted power consumption corresponding to the non-associated components is determined based on the first execution operation, including: determining the first unit power consumption corresponding to each group of associated components, and the second unit power consumption corresponding to each component in the non-associated components; determining the first duration of the associated operation corresponding to each group of associated components based on the target path, and determining the group predicted power consumption of each group of associated components based on the first unit power consumption and the first duration; determining the execution duration of the first execution operation based on the target path, and determining the second duration based on the number of non-associated components, wherein the more non-associated components there are, the longer the second duration, and the second duration is less than the execution duration; determining the second predicted power consumption based on the second duration and the second unit power consumption corresponding to each component.

[0071] Among them, for each group of associated components, the grouped predicted power consumption corresponding to each group of associated components can be directly determined by the duration of the associated operation corresponding to each group of associated components. For non-associated components, it is more memory-consuming to determine the duration of the execution operation corresponding to each non-associated component separately. Therefore, the present application determines the second duration corresponding to each component based on the execution duration of the first execution operation and the number of non-associated components, and the second predicted power consumption is determined based on the second duration and the second unit power consumption corresponding to each component. This is because in non-associated components, the duration of the execution operation corresponding to each non-associated 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-associated component based on the execution duration of the first execution operation, the second predicted power consumption will be too large, which will also have an impact on the subsequent determination of the corresponding energy storage battery. The more non-associated components there are, the greater the error in the second predicted power consumption will be, and the greater the impact will be.

[0072] Therefore, when this application determines the second duration of each non-associated component, it is mainly determined based on the number of non-associated components, and the more non-associated components there are, the shorter the second duration. This can avoid the larger error in the second predicted power consumption caused by the larger number of non-associated components.

[0073] In this application, the predicted power usage of associated components is determined by combining the first duration of the associated operation in the target path. The predicted power usage of non-associated components is determined by comprehensively determining the duration of the non-associated components based on the execution duration of the first execution operation and the number of non-associated components. This allows for precise power usage prediction of associated components and fuzzy power usage prediction of non-associated components, ensuring power supply for the more impactful associated operations while improving the efficiency of power usage prediction.

[0074] The following is a detailed description of “determining the first group of energy storage batteries corresponding to the first predicted power consumption, and determining the second group of energy storage batteries corresponding to the second predicted power consumption” in the above embodiment:

[0075] Specifically, in a feasible embodiment, determining a first group of energy storage batteries corresponding to a first predicted power consumption, and determining a second group of energy storage batteries corresponding to a second predicted power consumption, includes: determining usage status of a plurality of energy storage batteries, where the usage status includes in use and out of use; if it is determined that the sum of the remaining power of the non-used energy storage batteries among the plurality of energy storage batteries is not less than a third predicted power consumption, then determining, from the non-used energy storage batteries, a first energy storage battery corresponding to each group of associated components in at least one group of associated components, and a second group of energy storage batteries corresponding to the non-associated components, based on the remaining power of the non-used energy storage batteries, the group predicted power consumption corresponding to each of the at least one group of associated components, and the second predicted power consumption, such that the remaining power of the first energy storage battery is not less than the group predicted power consumption, and the sum of the remaining power of the energy storage batteries included in the second group of energy storage batteries is not less than the second predicted power consumption, the first group of energy storage batteries including the first energy storage batteries corresponding to each of the at least one group of associated components, and the third predicted power consumption being the sum of the first predicted power consumption and the second predicted power consumption;

[0076] If it is determined that the sum of the remaining capacities of the non-in-use energy storage batteries among the multiple energy storage batteries is less than the third predicted power consumption, a first remaining capacities of the energy storage batteries in use among the multiple energy storage batteries is determined, where the first remaining capacities represent the remaining capacity of the remaining capacities of the energy storage batteries in use, excluding the capacity used to maintain the power supply to the equipment in use. Based on the first remaining capacities of the energy storage batteries in use, the remaining capacities of the non-in-use energy storage batteries, the grouped predicted power consumption corresponding to at least one group of associated components, and the second predicted power consumption, first energy storage batteries corresponding to at least one group of associated components and second grouped energy storage batteries corresponding to the non-associated components are determined from the non-in-use energy storage batteries, so that the remaining capacity of the first energy storage batteries is not less than the grouped predicted power consumption, and the sum of the remaining capacities of the energy storage batteries included in the second grouped energy storage batteries is not less than the second predicted power consumption. A group of associated components with a smaller grouped predicted power consumption has a higher priority as the energy storage battery in use.

[0077] To avoid disrupting the normal use of the wheelchair, the first group of energy storage batteries corresponding to the first component is determined by selecting currently unused energy storage batteries from among the multiple energy storage batteries, as much as possible. Therefore, this embodiment determines the usage status of multiple energy storage batteries and the sum of the remaining charges of the unused energy storage batteries among the multiple energy storage batteries. When the sum of the remaining charges of the unused energy storage batteries is determined to be no less than the sum of the first predicted power consumption and the second predicted power consumption, a first group of energy storage batteries corresponding to the first predicted power consumption and a second group of energy storage batteries corresponding to the second predicted power consumption are determined from among the unused energy storage batteries. Furthermore, this embodiment treats each group of associated components and unassociated components as a whole, such that the remaining charge of the first energy storage battery corresponding to each associated component determined from among the unused energy storage batteries must satisfy a condition of no less than the group predicted power consumption of the associated component group corresponding to the first energy storage battery. Furthermore, the sum of the remaining charges of the energy storage batteries included in the second group of energy storage batteries corresponding to the unassociated components determined from among the unused energy storage batteries must satisfy a condition of no less than the second predicted power consumption.

[0078] When the sum of the remaining charges of the non-in-use energy storage batteries among the multiple energy storage batteries is less than the third predicted power consumption, in addition to determining the first and second groups of energy storage batteries from the non-in-use energy storage batteries, a portion of the in-use energy storage batteries needs to be determined as the first and second groups of energy storage batteries. Since the in-use energy storage batteries are still needed to maintain normal use of the wheelchair, the in-use energy storage batteries only need to provide the portion of the sum of the remaining charges of the non-in-use energy storage batteries that is less than the third predicted power consumption. Furthermore, since the second predicted power consumption of the non-associated components is primarily determined based on the execution duration of the first operation and the number of non-associated components, the second predicted power consumption does not fully reflect the power supply duration of the non-associated components. However, the group predicted power consumption corresponding to each group of associated components can reflect the power supply duration of each group of associated components. Therefore, when determining the first energy storage batteries corresponding to at least one group of associated components in the first group of energy storage batteries, the portion of the in-use energy storage batteries that need to be allocated is preferentially allocated to the group of associated components with the lowest group predicted power consumption.

[0079] For example, if there are an associated component group A, an associated component group B, and an unassociated component C, where the group predicted power consumption corresponding to the associated component group A is 10, the group predicted power consumption corresponding to the associated component group B is 20, and the second predicted power consumption corresponding to the unassociated component C is 40. If the sum of the remaining power of the energy storage batteries not in use is 60, it can be determined that the sum of the remaining power of the energy storage batteries not in use, 60, is less than the third predicted power consumption 70 (10+20+40). Therefore, when determining the first energy storage batteries corresponding to the associated component group A and the associated component group B, respectively, and the second grouped energy storage batteries corresponding to the unassociated 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 second grouped energy storage batteries. Since the group predicted power consumption corresponding to the associated component 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 associated component group A. Therefore, an energy storage battery that can supply an additional power of 10 is determined from the energy storage batteries in use as the first energy storage battery corresponding to the associated component group A, and the first energy storage battery corresponding to the associated component group B and the second group of energy storage batteries corresponding to the non-associated component C are determined from the energy storage batteries not in use.

[0080] For example, please refer to Figure 4, which is a structural diagram of a storage battery status display provided in an embodiment of the present application. As shown in Figure 4, it includes a first battery, a second battery and a third battery, wherein the usage status of the first battery and the third battery are both in use, the power supply object of the first battery is XSXX, the power supply object 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%.

[0081] In the present application, the above method is used to determine the first group of energy storage batteries corresponding to the first predicted power consumption and the second group of energy storage batteries corresponding to the second predicted power consumption from the non-in-use energy storage batteries among the multiple energy storage batteries as much as possible. This not only allows the first group of energy storage batteries and the second group of energy storage batteries to meet the power requirements of at least one group of associated components and non-associated components when performing the first execution operation, but also avoids the wheelchair from being unable to be used normally due to the power consumption when performing the first execution operation. At the same time, it is also beneficial to improve the efficiency of selecting the corresponding energy storage battery from multiple energy storage batteries.

[0082] In step S204 , the controller 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 according to the first execution operation.

[0083] Among them, after determining the first group of energy storage batteries corresponding to the first group of components according to the above method, the first group of energy storage batteries is controlled to power the first group of components, so that the first group of components assists the wheelchair to move on the target path, thereby improving the safety of the wheelchair traveling on the target path.

[0084] The current step is described in detail below with reference to the above embodiment:

[0085] In a feasible 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: controlling the first energy storage battery in the first group of energy storage batteries to supply power to a corresponding group of associated components in at least one group of associated components; and controlling the second group of energy storage batteries to supply power to non-associated components, wherein the at least one energy storage battery supplying power to each component in the non-associated components is determined based on the number of energy storage batteries in the second group and the remaining power of each energy storage battery, so that the remaining power of the at least one energy storage battery supplying power to each component is within a preset range.

[0086] Each associated component in at least one associated group is powered by its corresponding first energy storage battery, preventing the entire associated operation from failing due to insufficient power supply to a single component within each associated group. The number of first energy storage batteries may be one or more. When powering unassociated components using the second group of energy storage batteries, each unassociated component also needs to be powered separately. Therefore, when allocating energy storage batteries to power each unassociated component, the remaining power of each energy storage battery is ensured to be within a preset range. Similarly, a single unassociated component may be powered by one or more energy storage batteries. The preset range can be determined based on the ratio between the remaining power of the energy storage batteries in the second group of energy storage batteries and the number of unassociated components. For example, if the ratio between the remaining power of the energy storage batteries in the second group of energy storage batteries and the number of unassociated components is 25, the preset range can be determined to be [20-30].

[0087] In the present application, controlling the first group of energy storage batteries to supply power to at least one target component in the first group of components through the above method is beneficial to improving the efficiency of the energy storage device in supplying power to the at least one target component.

[0088] In addition, in a feasible 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: if there is a second energy storage battery in the first group of energy storage batteries that cannot supply power, determining whether there is a third energy storage battery among the multiple energy storage batteries, the usage status of the third energy storage battery is not in use, and the remaining power is greater than a second preset threshold, and the second energy storage battery corresponds to the fourth component in the first group of components; if it is determined that there is a third energy storage battery among the multiple energy storage batteries, controlling the third energy storage battery to supply power to the fourth component; if it is determined that there is no third energy storage battery among the multiple energy storage batteries, determining a fourth energy storage battery among the multiple energy storage batteries, and controlling the fourth energy storage battery to supply power to the fourth component, and the powered device corresponding to the fourth energy storage battery is a non-essential device corresponding to the wheelchair when moving along the target path.

[0089] If, during the power supply process, it is discovered that the energy storage battery powering the fourth component in the first group of components is unable to continue powering due to a fault or other malfunction, other batteries will need to continue powering the fourth component. In this case, it is first necessary to determine whether there is a third energy storage battery in the multiple energy storage batteries that is not in use and has a remaining charge greater than a second preset threshold. The second preset threshold can be determined based on the storable capacity of the energy storage battery, for example, 1% of the storable capacity can be determined as the second preset threshold. If the third energy storage battery is present, the third energy storage battery can be directly controlled to power the fourth component. If the third energy storage battery is not present, the energy storage battery powering the fourth component will be determined from the active energy storage batteries. At this point, it can be determined that among the powered devices corresponding to the multiple energy storage batteries, there is a non-essential device traveling along the current target path, such as a camera module. The fourth energy storage battery powering this non-essential device can be controlled to power the fourth component.

[0090] In the present application, by selecting other batteries to power the fourth component that cannot be used due to power supply problems in the above manner, the inability to achieve auxiliary use of the wheelchair due to power supply problems can be avoided, thereby improving the stability of power supply by the energy storage battery.

[0091] It can be seen that in the embodiment of the present application, if the camera module captures the road conditions in front of the wheelchair and determines that there is a corresponding target path in front of the wheelchair, the first execution operation corresponding to the target path and the first group of components corresponding to the first execution operation are determined, and based on the first execution operation and the first group of components, a first group of energy storage batteries is determined from the multiple energy storage batteries, and 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 according to the first execution operation. This not only enables assistance to the wheelchair in special scenarios, thereby improving the safety of the wheelchair during operation; at the same time, the corresponding first group of energy storage batteries is determined from the multiple energy storage batteries to supply power to at least one target component, but also avoids excessive consumption of a single battery due to increased power consumption when the electric wheelchair is moving in special scenarios, thereby reducing the impact on the battery when the wheelchair is used for assistance, which is beneficial to improving the utilization efficiency of the multiple energy storage batteries and further beneficial to increasing the battery life.

[0092] Consistent with the above-described embodiment, please refer to FIG5 , which is a block diagram of functional units of a control device for an electric wheelchair provided in an embodiment of the present application. The device is applied to the above-described controller. As shown in FIG5 , the control device 50 for an electric wheelchair includes:

[0093] 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 condition in front of the wheelchair taken by the camera module;

[0094] The determining unit 502 is configured to, if the current path is determined to be the target path according to 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, wherein the first group of components includes at least one target component;

[0095] The determining unit 502 is further configured to determine a first group of energy storage batteries according to 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 from the plurality of energy storage batteries;

[0096] The control unit 503 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 control the at least one target component in the first group of components to operate according to the first execution operation.

[0097] In a feasible embodiment, in terms of determining the first group of components corresponding to the first execution operation, the determination unit 502 is specifically configured to: obtain the remaining power corresponding to the energy storage device, the remaining power corresponding to the energy storage device includes the sum of the remaining power of multiple energy storage batteries; if the remaining power corresponding to the energy storage device is less than the first preset threshold, then determine at least one first component as the first group of components corresponding to the first execution operation; if the remaining power corresponding to the energy storage device is not less than the first preset threshold, then determine at least one second component as the first group of components corresponding to the first execution operation, the at least one second component includes at least one first component and at least one third component, the first component is a necessary auxiliary component for performing the first execution operation, and the third component is a non-essential auxiliary component for performing the first execution operation.

[0098] In a feasible embodiment, in terms of 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 associated components and non-associated components in the first group of components based on the first execution operation, wherein the associated components include multiple first target components with associated operations, and the non-associated components are target components other than the first target components in the first group of components; determine the grouped predicted power consumption corresponding to each group of associated components based on the associated operations corresponding to each group of associated components in at least one group of associated components, the grouped predicted power consumption constitutes the first predicted power consumption corresponding to at least one group of associated components, and determine the second predicted power consumption corresponding to the non-associated components based on the first execution operation; determine the first grouped energy storage battery corresponding to the first predicted power consumption, and determine the second grouped energy storage battery corresponding to the second predicted power consumption, the first grouped energy storage battery and the second grouped energy storage battery constituting the first group of energy storage batteries.

[0099] In a feasible embodiment, in terms of determining the group predicted power consumption corresponding to each group of associated components based on the associated operation corresponding to each group of associated components in at least one group of associated components, and determining the second predicted power consumption corresponding to the non-associated components based on the first execution operation, the determination unit 502 is specifically configured to: determine the first unit power consumption corresponding to each group of associated components, and the second unit power consumption corresponding to each component in the non-associated components; determine the first duration of the associated operation corresponding to each group of associated components based on the target path, and determine the group predicted power consumption of each group of associated components based on the first unit power consumption and the first duration; determine the execution duration of the first execution operation based on the target path, and determine the second duration based on the number of non-associated components, wherein the more non-associated components there are, the longer the second duration, and the second duration is less than the execution duration; determine the second predicted power consumption based on the second duration and the second unit power consumption corresponding to each component.

[0100] In one feasible embodiment, in determining a first group of energy storage batteries corresponding to the first predicted power consumption and determining a second group of energy storage batteries corresponding to the second predicted power consumption, the determining unit 502 is specifically configured to: determine the usage status of the plurality of energy storage batteries, where the usage status includes in use and out of use; if it is determined that the sum of the remaining power of the non-in-use energy storage batteries among the plurality of energy storage batteries is not less than the third predicted power consumption, then determine, from the non-in-use energy storage batteries, a first energy storage battery corresponding to each group of associated components in at least one group of associated components, and a second group of energy storage batteries corresponding to the non-associated components, based on the remaining power of the non-in-use energy storage batteries, the group predicted power consumption corresponding to each of the at least one group of associated components, and the second predicted power consumption, such that the remaining power of the first energy storage battery is not less than the group predicted power consumption, and the sum of the remaining power of the energy storage batteries included in the second group of energy storage batteries is not less than the second predicted power consumption, the first group of energy storage batteries includes the first energy storage batteries corresponding to each 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;

[0101] If it is determined that the sum of the remaining capacities of the non-in-use energy storage batteries among the multiple energy storage batteries is less than the third predicted power consumption, a first remaining capacities of the energy storage batteries in use among the multiple energy storage batteries is determined, where the first remaining capacities represent the remaining capacity of the remaining capacities of the energy storage batteries in use, excluding the capacity used to maintain the power supply to the equipment in use. Based on the first remaining capacities of the energy storage batteries in use, the remaining capacities of the non-in-use energy storage batteries, the grouped predicted power consumption corresponding to at least one group of associated components, and the second predicted power consumption, first energy storage batteries corresponding to at least one group of associated components and second grouped energy storage batteries corresponding to the non-associated components are determined from the non-in-use energy storage batteries, so that the remaining capacity of the first energy storage batteries is not less than the grouped predicted power consumption, and the sum of the remaining capacities of the energy storage batteries included in the second grouped energy storage batteries is not less than the second predicted power consumption. A group of associated components with a smaller grouped predicted power consumption has a higher priority as the energy storage battery in use.

[0102] In a feasible embodiment, in terms of 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 group of energy storage batteries to supply power to a corresponding group of associated components in at least one group of associated components; and control the second group of energy storage batteries to supply power to non-associated components, wherein the at least one energy storage battery supplying power to each component in the non-associated components is determined based on the number of energy storage batteries in the second group and the remaining power of each energy storage battery, so that the remaining power of the at least one energy storage battery supplying power to each component is within a preset range.

[0103] In a feasible embodiment, the control unit 503, after being 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, is further configured to: if there is a second energy storage battery in the first group of energy storage batteries that cannot supply power, determine whether there is a third energy storage battery among the multiple energy storage batteries, the usage status of the third energy storage battery is not in use, and the remaining power is greater than a second preset threshold, and the second energy storage battery corresponds to the fourth component in the first group of components; if it is determined that there is a third energy storage battery among the multiple energy storage batteries, control the third energy storage battery to supply power to the fourth component; if it is determined that there is no third energy storage battery among the multiple energy storage batteries, determine the fourth energy storage battery among the multiple energy storage batteries, and control the fourth energy storage battery to supply power to the fourth component, and the powered device corresponding to the fourth energy storage battery is a non-essential device corresponding to the wheelchair when moving along the target path.

[0104] It can be understood that since the method embodiment and the device embodiment are different presentation forms of the same technical concept, the content of the method embodiment part in this application should be synchronously adapted to the device embodiment part and will not be repeated here.

[0105] In the case of adopting an integrated unit, as shown in Figure 6, Figure 6 is a block diagram of the functional unit composition of another electric wheelchair control device provided in an embodiment of the present application. In Figure 6, the control application device 60 of the electric wheelchair includes: a processing module 612 and a communication module 611. The processing module 612 is used to control and manage the actions of the control device of the electric wheelchair, for example, the steps of the receiving unit 501, the determination unit 502 and the control unit 503, and / or other processes for executing the technology described in this article. The communication module 611 is used to support the interaction between the control device of the electric wheelchair and other devices. As shown in Figure 6, the control application device 60 of the electric wheelchair may also include a storage module 613, which is used to store program code and data of the control device of the electric wheelchair.

[0106] 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 ASIC, an FPGA, or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. A processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 611 may be a transceiver, an RF circuit, or a communication interface, and the like. The storage module 613 may be a memory.

[0107] All relevant contents of each scenario involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here. The above electric wheelchair control application device 60 can execute the electric wheelchair control method shown in FIG2 .

[0108] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part 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 program are loaded or executed on a computer, the process or function according to the embodiments of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains a collection of one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0109] Figure 7 is a block diagram of an electronic device according to an embodiment of the present application. As shown in Figure 7, the electronic device 700 may include one or more of the following components: a processor 701, a memory 702, and a communication interface 703. The processor 701, the memory 702, and the communication interface 703 are interconnected and communicate with each other. The memory 702 may store one or more computer programs, which may be configured to implement the methods described in the above embodiments when executed by one or more processors 701.

[0110] The processor 701 may include one or more processing cores. The processor 701 uses various interfaces and lines to connect the various parts of the entire electronic device 700, and executes various functions and processes data of the electronic device 700 by running or executing instructions, programs, code sets or instruction sets stored in the memory 702, and calling data stored in the memory 702. Optionally, the processor 701 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 701 can integrate one or more combinations of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. It is understandable that the above-mentioned modem may not be integrated into the processor 701, but may be implemented separately through a communication chip.

[0111] The memory 702 may include a random access memory (RAM) or a 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, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may also store data created by the electronic device 700 during use.

[0112] It is understandable that the electronic device 700 may include more or fewer structural elements than those in the above structural block diagram, for example, including a power module, physical buttons, WiFi (Wireless Fidelity) module, speakers, Bluetooth modules, sensors, etc., which are not limited here.

[0113] The electronic device 700 may be a part of a controller in a wheelchair control system or a device independent of the controller.

[0114] An embodiment of the present application provides a computer-readable storage medium, wherein program data is stored in the computer-readable storage medium. When the program data is executed by a processor, the program data is used to execute part or all of the steps of any electric wheelchair control method described in the above method embodiments.

[0115] The present application also provides a computer program product comprising a non-transitory computer-readable storage medium storing a computer program. The computer program is operable to cause a computer to execute some or all of the steps of any of the electric wheelchair control methods described in the above method embodiments. The computer program product may be a software installation package.

[0116] It should be noted that for the sake of simplicity, the aforementioned method embodiments of the electric wheelchair control method are described as a series of actions. However, those skilled in the art should be aware that this application is not limited to the order of the actions described, as certain steps can be performed in other orders or simultaneously according to this application. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions involved are not necessarily required by this application.

[0117] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other variations of the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality of components or steps. The fact that certain measures are recited in different dependent claims does not mean that these measures cannot be combined to produce good results.

[0118] Those skilled in the art will understand that all or part of the steps in the various methods of the above-mentioned method for controlling an electric wheelchair can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0119] The above is a detailed introduction to the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the control method and related devices of an electric wheelchair of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. At the same time, for those skilled in the art, based on the idea of ​​the control method and related devices of an electric wheelchair of the present application, there may be changes in the specific implementation methods and application scope. In summary, the contents of this specification should not be understood as limiting the present application.

[0120] The present application is described with reference to the flowcharts and / or block diagrams of the methods, hardware products, and computer program products of the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can 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, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0121] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0122] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0123] It can be understood that any product that is controlled or configured to execute the processing method of the flowchart described in the method embodiment of the control method of an electric wheelchair in the present application, such as the terminal and computer program product in the above flowchart, falls within the scope of the related products described in the present application.

[0124] Obviously, those skilled in the art may make various modifications and variations to the electric wheelchair control method and related devices provided in this application without departing from the spirit and scope of this application. Thus, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application is intended to include such modifications and variations.

Claims

1. A control method for an electric wheelchair, characterized in that: 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 comprising: Receiving a target image from the camera module, wherein the target image is an image of the road condition in front of the wheelchair taken by the camera module; If the current path is determined to be the target path according to 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, wherein the first group of components includes at least one target component; Determine a first group of energy storage batteries according to the first execution operation and the first group of components, the first group of energy storage batteries including at least one energy storage battery among 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 according to the first execution operation.

2. The method according to claim 1, characterized in that The determining a first group of energy storage batteries according to the first execution operation and the first group of components includes: Determine at least one group of associated components and non-associated components in the first group of components according to the first execution operation, wherein the associated components include a plurality of first target components having associated operations, and the non-associated components are target components in the first group of components other than the first target components; Determine the grouped predicted power consumption corresponding to each group of associated components according to the associated operation corresponding to each group of associated components in the at least one group of associated components, the grouped predicted power consumption constitutes the first predicted power consumption corresponding to the at least one group of associated components, and determine the second predicted power consumption corresponding to the non-associated components according to the first execution operation; A first group of energy storage batteries corresponding to the first predicted power consumption is determined, and a second group of energy storage batteries corresponding to the second predicted power consumption is determined, the first group of energy storage batteries and the second group of energy storage batteries constituting the first group of energy storage batteries.

3. The method according to claim 2, characterized in that The determining, according to the association operation corresponding to each group of associated components in the at least one group of associated components, the group predicted power usage corresponding to each group of associated components, and determining, according to the first execution operation, the second predicted power usage corresponding to the non-associated components, includes: Determine a first unit power consumption corresponding to each group of associated components, and a second unit power consumption corresponding to each component in the non-associated components; Determine a first duration of the association operation corresponding to each group of associated components according to the target path, and determine a grouped predicted power consumption of each group of associated components according to the first unit power consumption and the first duration; Determine the execution duration of the first execution operation according to the target path, and determine the second duration according to the number of the non-associated components, wherein the greater the number of the non-associated components, the shorter the second duration, and the second duration is less than the execution duration; The second predicted power consumption is determined according to the second duration and the second unit power consumption corresponding to each component.

4. The method according to claim 2 or 3, characterized in that: The determining of a first group of energy storage batteries corresponding to the first predicted power consumption, and determining a second group of energy storage batteries corresponding to the second predicted power consumption, includes: Determining the usage status of the plurality of energy storage batteries, wherein the usage status includes being in use and not being in use; If it is determined that the sum of the remaining power of the non-used energy storage batteries among the multiple energy storage batteries is not less than the third predicted power consumption, then according to the remaining power of the non-used energy storage batteries, the group predicted power consumption corresponding to the at least one group of associated components, and the second predicted power consumption, the first energy storage battery corresponding to each group of associated components in the at least one group of associated components and the second group energy storage battery corresponding to the non-associated components are determined from the non-used energy storage batteries, so that the remaining power of the first energy storage battery is not less than the group predicted power consumption, and the sum of the remaining power of the energy storage batteries included in the second group energy storage battery is not less than the second predicted power consumption, the first group energy storage battery includes the first energy storage batteries corresponding to 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 sum of the remaining power of the energy storage batteries not in use among the multiple energy storage batteries is less than the third predicted power consumption, then determining a first remaining power of an energy storage battery in use among the multiple energy storage batteries, where the first remaining power is used to represent the remaining power of the energy storage battery in use, excluding the power used to maintain the power supply to the equipment; According to the first remaining power of the energy storage battery in use, the remaining power of the energy storage battery not in use, the group predicted power consumption corresponding to the at least one group of associated components, and the second predicted power consumption, the first energy storage batteries corresponding to the at least one group of associated components and the second group energy storage batteries corresponding to the non-associated components are determined from the energy storage batteries not in use, so that the remaining power of the first energy storage battery is not less than the group predicted power consumption, and the sum of the remaining power of the energy storage batteries included in the second group energy storage battery is not less than the second predicted power consumption, wherein, for a group of associated components with a smaller group predicted power consumption, the corresponding first energy storage battery has a higher priority as the energy storage battery in use.

5. The method according to claim 4, characterized in that The 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 group of energy storage batteries to supply power to a corresponding group of associated components in the at least one group of associated components; Control the second group of energy storage batteries to supply power to the non-associated components, wherein at least one energy storage battery that supplies power to each of the non-associated components is determined according to the number of the second group of energy storage batteries and the remaining power of each energy storage battery, so that the remaining power of the at least one energy storage battery that supplies power to each component is within a preset range.

6. The method according to any one of claims 1 to 3, characterized in that: Determining a first group of components corresponding to the first execution operation includes: Acquire the remaining power corresponding to the energy storage device, where the remaining power corresponding to the energy storage device includes the sum of the remaining power of the multiple energy storage batteries; If the remaining power corresponding to the energy storage device is less than a first preset threshold, determining at least one first component as a first group of components corresponding to the first execution operation; If the remaining power corresponding to the energy storage device is not less than the first preset threshold, at least one second component is determined to be the first group of components corresponding to the first execution operation, and the at least one second component includes at least one first component and at least one third component, the first component is a necessary auxiliary component for performing the first execution operation, and the third component is a non-essential auxiliary component for performing the first execution operation.

7. The method according to claim 1, characterized in that The method further comprises: If there is a second energy storage battery in the first group of energy storage batteries that cannot supply power, determine whether the multiple energy storage batteries There is a third energy storage battery, the usage status of the third energy storage battery is not in use, and the remaining power is greater than a second preset threshold, and the second energy storage battery corresponds to the fourth component in the first group of components; If it is determined that the third energy storage battery exists among the plurality of energy storage batteries, controlling the third energy storage battery to supply power to the fourth component; If it is determined that the third energy storage battery does not exist among the multiple energy storage batteries, then the fourth energy storage battery among the multiple energy storage batteries is determined, and the fourth energy storage battery is controlled to power the fourth component, and the powered device corresponding to the fourth energy storage battery is a non-essential device corresponding to the wheelchair when moving along the target path.

8. A control device for an electric wheelchair, characterized in that: The device is applied to a controller in a wheelchair control system, the wheelchair control system further includes a camera module and an energy storage device, the energy storage device includes a plurality of energy storage batteries, and the device includes: A receiving unit, used to receive a target image from the camera module, wherein the target image is an image of the road condition in front of the wheelchair taken by the camera module; a determining unit, configured to determine, if the current path is determined as a target path according to the target image, 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; The determining unit is further configured to determine a first group of energy storage batteries according to the first execution operation and the first group of components, wherein the first group of energy storage batteries includes at least one energy storage battery among the plurality of energy storage batteries; A control unit is used 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 operation of at least one target component in the first group of components according to the first execution operation.

9. An electronic device, characterized in that: The device comprises: A processor, a memory, and a communication interface, wherein the processor, the memory, and the communication interface are connected to each other and perform communication work between them; The memory stores executable program code, and the communication interface is used for wireless communication; The processor is used to call the executable program code stored in the memory to execute the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: A computer program for electronic data exchange is stored, wherein the computer program enables a computer to execute the method according to any one of claims 1 to 7.

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