阅读说明：本技术 一种基于轮毂检测的爬楼轮椅保护方法、系统和可读存储介质 (Stair climbing wheelchair protection method and system based on hub detection and readable storage medium ) 是由 刘刚 史永红 蔚刚 王京 刘月琴 温玉春 于 2019-09-23 设计创作，主要内容包括：本发明公开了一种基于轮毂检测的爬楼轮椅保护方法、系统和可读存储介质,其中方法包括：获取所述轮毂的当前状态值；计算所述当前状态值变化率；判断所述状态值变化率是否超过预设的变化率阈值；若超过所述变化率阈值,则调整轮椅的运行状态。本发明通过对轮毂的运行状态值进行判断,提前对爬楼轮椅进行控制调节,能够减少爬楼轮椅跌落的可能。并且在具体控制中,对角度和速度进行判断,能够更好的避免跌落保证安全。(The invention discloses a method and a system for protecting a stair climbing wheelchair based on hub detection and a readable storage medium, wherein the method comprises the following steps: acquiring a current state value of the hub; calculating the change rate of the current state value; judging whether the change rate of the state value exceeds a preset change rate threshold value or not; and if the change rate threshold value is exceeded, adjusting the running state of the wheelchair. According to the invention, the operation state value of the hub is judged, and the stair climbing wheelchair is controlled and adjusted in advance, so that the possibility of falling of the stair climbing wheelchair can be reduced. And in the concrete control, the angle and the speed are judged, so that the falling can be better avoided, and the safety is ensured.)

1. A stair climbing wheelchair protection method based on hub detection is characterized by comprising the following steps:

acquiring a current state value of the hub;

calculating the change rate of the current state value;

judging whether the change rate of the state value exceeds a preset change rate threshold value or not;

and if the change rate threshold value is exceeded, adjusting the running state of the stair climbing wheelchair.

2. The method for protecting a stair climbing wheelchair based on hub detection according to claim 1, wherein the step of judging whether the change rate of the state value exceeds a preset change rate threshold value or not is performed, and if the change rate exceeds the change rate threshold value, the operation state of the stair climbing wheelchair is changed, specifically:

acquiring a current speed value of the hub;

calculating a speed change rate of the hub;

judging whether the speed change rate is greater than or equal to a preset speed change rate threshold value or not;

if yes, further judging whether the current speed value is greater than or equal to a preset speed threshold value;

if so, changing the operation state of the stair climbing wheelchair.

3. The stair climbing wheelchair protection method based on hub detection as claimed in claim 2, further comprising:

acquiring the displacement direction of the stair climbing wheelchair;

according to the displacement direction, obtaining rotation information of the hub within the range of the included angle of the displacement direction;

and changing the running state of the stair climbing wheelchair within the range of the included angle of the displacement direction.

4. The protection method of the stair climbing wheelchair based on the rotating wheel detection as claimed in any one of claims 1 to 3, wherein the changing of the operating state of the stair climbing wheelchair comprises one or more of changing the span of front and rear wheels of the wheelchair and changing the rotating speed of a hub of the wheelchair.

5. The stair climbing wheelchair protection method based on hub detection as claimed in claim 2, further comprising:

acquiring an included angle between the current gravity center position of the hub and the horizontal plane, wherein the included angle is a first included angle;

acquiring an included angle between the hub and the horizontal plane before the preset time, wherein the included angle is a second included angle;

calculating the difference value of the first included angle and the second included angle to obtain the difference value of the included angles;

judging whether the included angle difference value is larger than a preset included angle threshold value or not;

if the included angle is larger than the preset included angle threshold value, the running state of the stair climbing wheelchair is changed.

6. The stair climbing wheelchair protection method based on hub detection as claimed in claim 5, wherein the changing of the operating state of the stair climbing wheelchair specifically comprises:

and changing the span of front wheels and rear wheels of the wheelchair or controlling the rotation angular speed of the hub of the wheelchair, so that the included angle difference is smaller than a preset safe included angle threshold value.

7. A stair climbing wheelchair protection system based on wheel hub detection is characterized in that the system comprises: the device comprises a memory and a processor, wherein the memory comprises a stair climbing wheelchair protection program based on hub detection, and the stair climbing wheelchair protection method based on hub detection realizes the following steps when the processor executes the program:

acquiring a current state value of the hub;

calculating the change rate of the current state value;

judging whether the change rate of the state value exceeds a preset change rate threshold value or not;

and if the change rate threshold value is exceeded, adjusting the running state of the stair climbing wheelchair.

8. The system according to claim 7, wherein the system is configured to determine whether the change rate of the state value exceeds a preset change rate threshold, and if the change rate exceeds the change rate threshold, change the operating state of the wheelchair, specifically:

acquiring a current speed value of the hub;

calculating a speed change rate of the hub;

judging whether the speed change rate is greater than or equal to a preset speed change rate threshold value or not;

if yes, further judging whether the current speed value is greater than or equal to a preset speed threshold value;

if so, changing the operation state of the stair climbing wheelchair.

9. The stair climbing wheelchair protection method based on hub detection as claimed in claim 8, further comprising:

acquiring the displacement direction of the stair climbing wheelchair;

according to the displacement direction, obtaining rotation information of the hub within the range of the included angle of the displacement direction;

and changing the running state of the stair climbing wheelchair within the range of the included angle of the displacement direction.

10. A computer-readable storage medium, wherein the computer-readable storage medium includes a program of a wheelchair protection method based on hub detection, and when the program of the wheelchair protection method based on hub detection is executed by a processor, the steps of the wheelchair protection method based on hub detection according to any one of claims 1 to 6 are implemented.

Technical Field

The invention relates to the field of sensor detection, in particular to a method and a system for protecting a stair climbing wheelchair based on hub detection and a readable storage medium.

Background

With the arrival of the aging society and the increase of the number of the disabled people, as well as more and more overpasses, steps of parks, residential quarters going upstairs and downstairs and the like, the demand of the old people and the disabled people on auxiliary walking tools is increasing, the function of the wheelchair in the life of the old people and the disabled people is more and more important, and the wheelchair becomes the only travel tool for the old people and the disabled people. The stair climbing wheelchair is one of service machines, is an indispensable rehabilitation and walk-substituting tool for old people or physically disabled people, and can be conveniently taken out and used for physical exercise by the old people and the disabled with the help of the wheelchair.

Present stair-climbing wheelchair's a great variety, including: crawler-type, the Y type is wheeled, traditional stair climbing wheelchairs such as five impeller formulas are gone on upstairs and the state switching that downstairs and state control mainly rely on people's operation to go on, along with the development of science and technology, the arrival of intelligent era, stair climbing wheelchair based on automatic control becomes people's new demand, the automatic control core of wheelchair is the state detection of wheelchair, current detection method is complicated, it is poor to detect the accuracy, be difficult to adapt to accurate automatic control's requirement, in addition in stair climbing wheelchair's overall control, very key to wheel hub's detection, its wheel hub's rotation directly influences stair climbing wheelchair's operational safety, how to detect control wheelchair state based on wheel hub, in order to provide safer comfortable taking the experience and need the problem of solving urgently.

Disclosure of Invention

In order to solve at least one technical problem, the invention provides a stair climbing wheelchair protection method and system based on hub detection and a readable storage medium.

In order to solve the technical problem, the invention discloses a stair climbing wheelchair protection method based on hub detection in a first aspect, which comprises the following steps:

acquiring a current state value of the hub;

calculating the change rate of the current state value;

judging whether the change rate of the state value exceeds a preset change rate threshold value or not;

and if the change rate threshold value is exceeded, adjusting the running state of the stair climbing wheelchair.

In this scheme, the determining step determines whether the change rate of the state value exceeds a preset change rate threshold, and if the change rate exceeds the change rate threshold, the operating state of the stair climbing wheelchair is changed, specifically:

acquiring a current speed value of the hub;

calculating a speed change rate of the hub;

judging whether the speed change rate is greater than or equal to a preset speed change rate threshold value or not;

if yes, further judging whether the current speed value is greater than or equal to a preset speed threshold value;

if so, changing the operation state of the stair climbing wheelchair.

In this scheme, still include:

acquiring the displacement direction of the stair climbing wheelchair;

according to the displacement direction, obtaining rotation information of the hub within the range of the included angle of the displacement direction;

and changing the running state of the stair climbing wheelchair within the range of the included angle of the displacement direction.

In the scheme, the change of the operation state of the stair climbing wheelchair comprises one or more of changing the span of front and rear wheels of the wheelchair and changing the rotating speed of a hub of the wheelchair.

In this scheme, still include:

acquiring an included angle between the current gravity center position of the hub and the horizontal plane, wherein the included angle is a first included angle;

acquiring an included angle between the hub and the horizontal plane before the preset time, wherein the included angle is a second included angle;

calculating the difference value of the first included angle and the second included angle to obtain the difference value of the included angles;

judging whether the included angle difference value is larger than a preset included angle threshold value or not;

if the included angle is larger than the preset included angle threshold value, the running state of the wheelchair is changed.

In this scheme, the change is climbed building wheelchair's running state, specifically does:

and changing the span of front wheels and rear wheels of the wheelchair or controlling the rotation angular speed of the hub of the wheelchair, so that the included angle difference is smaller than a preset safe included angle threshold value.

The invention also provides a stair climbing wheelchair protection system based on hub detection, which comprises: the device comprises a memory and a processor, wherein the memory comprises a stair climbing wheelchair protection program based on hub detection, and the stair climbing wheelchair protection method based on hub detection realizes the following steps when the processor executes the program:

acquiring a current state value of the hub;

calculating the change rate of the current state value;

judging whether the change rate of the state value exceeds a preset change rate threshold value or not;

and if the change rate threshold value is exceeded, adjusting the running state of the stair climbing wheelchair.

In this scheme, the determining step determines whether the change rate of the state value exceeds a preset change rate threshold, and if the change rate exceeds the change rate threshold, the operating state of the stair climbing wheelchair is changed, specifically:

acquiring a current speed value of the hub;

calculating a speed change rate of the hub;

judging whether the speed change rate is greater than or equal to a preset speed change rate threshold value or not;

if yes, further judging whether the current speed value is greater than or equal to a preset speed threshold value;

if so, changing the operation state of the stair climbing wheelchair.

In this scheme, still include:

acquiring the displacement direction of the stair climbing wheelchair;

according to the displacement direction, obtaining rotation information of the hub within the range of the included angle of the displacement direction;

and changing the running state of the stair climbing wheelchair within the range of the included angle of the displacement direction.

The third aspect of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a program of a method for protecting a wheelchair from climbing buildings based on hub detection, and when the program of the method is executed by a processor, the method realizes the steps of the method for protecting a wheelchair from climbing buildings based on hub detection.

According to the stair climbing wheelchair protection method and system based on hub detection and the readable storage medium, the operation state value of the hub is judged, the stair climbing wheelchair is controlled and adjusted in advance, and the possibility that the stair climbing wheelchair falls off can be reduced. And in the concrete control, the angle and the speed are judged, so that the falling can be better avoided, and the safety is ensured.

Drawings

FIG. 1 shows a schematic view of a stair climbing wheelchair according to the present invention;

FIG. 2 shows a flow chart of a method for protecting a stair climbing wheelchair based on hub detection;

FIG. 3 shows a block diagram of a stair climbing wheelchair protection method system based on hub detection;

FIG. 4 shows a schematic diagram of a first embodiment of the invention;

fig. 5 shows a schematic diagram of a second embodiment of the invention.

Detailed description of the invention

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The steering engine is mainly applicable to devices comprising hubs, and the devices comprise not only stair climbing wheelchairs, such as a carrying robot, a stair climbing robot and the like, and are used for detecting the hubs of the devices so as to control the motion states of the devices. Of course, the invention is not limited to the type of steering engine, and any technical scheme adopting the invention will fall into the protection scope of the invention.

Fig. 1 shows a schematic structural view of the stair climbing wheelchair of the invention.

As shown in fig. 1, fig. 1 shows a fully automatic stair climbing wheelchair a, which comprises a deformable seat 1 and a seat level adjusting mechanism 2, an adjustable span frame 3, a wheelchair front wheel assembly 4 and a wheelchair rear wheel assembly 5. It should be noted that, the wheelchair front wheel assembly 4 and the wheelchair rear wheel assembly 5 may include a processor therein for controlling and processing signal data; the wheelchair comprises a processor, a sensor and a servo motor, wherein the processor is used for processing the parameters of the wheelchair, the sensor is used for detecting various parameters of the wheelchair, such as speed, acceleration, horizontal position, coordinate position, height position from a horizontal plane and the like, and the servo motor is used for receiving a control instruction of the processor and adjusting the structural state of the wheelchair through the transmission of the servo motor. The invention is only used for describing the technical scheme of the invention more clearly, and the invention is not limited to be only applied to the stair climbing wheelchair, and any technical scheme adopting the invention will fall into the protection scope of the invention.

Fig. 2 shows a flow chart of a stair climbing wheelchair protection method based on hub detection.

As shown in fig. 2, a first aspect of the present invention discloses a method for protecting a stair climbing wheelchair based on hub detection, including:

s102, acquiring a current state value of the hub;

s104, calculating the change rate of the current state value;

s106, judging whether the change rate of the state value exceeds a preset change rate threshold value or not;

and S108, if the change rate exceeds the threshold value, adjusting the running state of the stair climbing wheelchair.

The stair climbing wheelchair may be a stair climbing robot or other machines. The stair climbing wheelchair is provided with a sensor, and can acquire the state values of the corresponding stair climbing wheelchair, such as speed, acceleration, horizontal position, coordinate position, height position from the horizontal plane and other information. The current hub state value obtained by the sensor is sent to a processor in the fuselage, and the change rate of the current state value is calculated by the processor, wherein the change rate can be calculated by the following formula:

change rate of state value ═ (current state value-state value before preset time)/preset time

The preset time is preset in advance by a technician, for example, 0.5s, 00ms and the like are set; or the stair climbing wheelchair is automatically updated in the operation process, the operation state of the stair climbing wheelchair is judged, and the preset time is dynamically updated according to the operation state. For example, when the stair climbing wheelchair is in a static state, the preset time can be increased without excessively intensive sampling; when the stair climbing wheelchair is in a motion state, the preset time can be shortened, more intensive sampling is carried out, and the outburst situation in the operation process is prevented.

After the rate of change of the state values is calculated, it will be determined whether a preset rate threshold is exceeded. The change rate threshold is set by a person skilled in the art according to actual needs, and may also be dynamically changed. If the change rate threshold value is exceeded, the wheelchair is likely to fall or be impacted by external force, and in this case, the falling of the passenger is likely to occur, so the state of the wheelchair will be changed. The span of the front wheel and the rear wheel of the wheelchair can be changed, the rotating speed of the hub of the wheelchair is changed, the position and the posture of the wheelchair can be adjusted, and the center of gravity of the whole stair climbing wheelchair is stable. Through the detection and the judgment of the change rate of the state value, the falling risk can be prevented, and the safety of the person who climbs the stair wheelchair is improved.

According to the embodiment of the present invention, the determining whether the change rate of the state value exceeds a preset change rate threshold value, and if the change rate exceeds the change rate threshold value, changing the operation state of the stair climbing wheelchair specifically includes:

acquiring a current speed value of the hub;

calculating a speed change rate of the hub;

judging whether the speed change rate is greater than or equal to a preset speed change rate threshold value or not;

if yes, further judging whether the current speed value is greater than or equal to a preset speed threshold value;

if so, changing the operation state of the stair climbing wheelchair.

Since the state includes a plurality of parameters, it is preferable to determine the speed, and the operating state of the wheelchair can be determined more appropriately by determining the speed. First, the current speed value of the hub is obtained and can be obtained through a sensor. The rate of change of the speed of the hub, i.e. the value of the acceleration, is then calculated. And judging whether the speed change rate is greater than or equal to a preset speed change rate threshold value or not. And after the speed change rate is judged to be larger than the speed change rate threshold, further judging whether the current speed value is larger than a preset speed threshold. Through the judgement to the present velocity value, some little acceleration shake of elimination that can be fine, for example, at the in-process of climbing building wheelchair downstairs, the fluctuation of step can lead to the in-process transient acceleration increase at the downstairs, but because the relative vertical displacement is shorter when downstairs, so speed can not too much increase, that is to say speed does not reach can dangerous level, so change the span of front and back wheel this moment and can influence the stability of climbing building wheelchair. Therefore, the current speed value can be further judged to better filter small shakes on the basis of exceeding the speed change rate threshold value, so that the operation of the stair climbing wheelchair is more reliable and stable.

According to the embodiment of the invention, the method further comprises the following steps:

acquiring the displacement direction of the stair climbing wheelchair;

according to the displacement direction, obtaining rotation information of the hub within the range of the included angle of the displacement direction;

and changing the running state of the stair climbing wheelchair within the range of the included angle of the displacement direction.

The present invention also actively controls the state of the wheelchair according to the displacement direction of the wheelchair. Firstly, the displacement direction of the stair climbing wheelchair is obtained, and the displacement direction of the stair climbing wheelchair can be obtained according to a sensor in the stair climbing wheelchair. Whether the hub is abnormal or not is judged by acquiring the rotation information of the hub within the included angle range of the displacement direction, and then the state of the stair climbing wheelchair is adjusted in time.

It should be noted that, the changing of the operation state of the stair climbing wheelchair includes one or more of changing the span of the front and rear wheels of the wheelchair and changing the rotation speed of the hub of the wheelchair. The specific operation state change adopted can be determined according to actual needs, and the invention is not limited to the operation state change situation, and any technical scheme adopting the invention will fall into the protection scope of the invention.

According to the embodiment of the invention, the method further comprises the following steps:

acquiring an included angle between the current gravity center position of the hub and the horizontal plane, wherein the included angle is a first included angle;

acquiring an included angle between the hub and the horizontal plane before the preset time, wherein the included angle is a second included angle;

calculating the difference value of the first included angle and the second included angle to obtain the difference value of the included angles;

judging whether the included angle difference value is larger than a preset included angle threshold value or not;

if the included angle is larger than the preset included angle threshold value, the running state of the stair climbing wheelchair is changed.

It should be noted that, the stair climbing wheelchair may incline during the process of descending or ascending stairs, and if the step fall is large, the stair climbing wheelchair may cause a risk of side turning or falling. Therefore, it is necessary to determine the angle between the current center of gravity of the hub and the horizontal plane. Firstly, acquiring an included angle between the current gravity center position of a front hub and a rear hub and a horizontal plane, wherein the included angle is a first included angle; and recording the first included angle value. And then acquiring the included angle between the hub and the horizontal plane before the preset time, wherein the included angle is a second included angle. It is worth mentioning that the stair climbing wheelchair can record the operation state value collected every time and store the operation state value in a storage medium, and the data which is too long in time can be removed in a circulating storage mode and stored in the latest data. And after the first included angle and the second included angle are obtained, calculating the difference value of the first included angle and the second included angle to obtain the included angle difference value. Judging whether the included angle difference value is larger than a preset included angle threshold value or not; if the included angle is larger than the preset included angle threshold value, the running state of the stair climbing wheelchair is changed. Preferably, the included angle threshold is 30-60 degrees, and more preferably, the included angle threshold is 45 degrees. That is, when the difference is greater than 45 degrees, the operation state of the stair climbing wheelchair is changed. By adopting the judgment of the angle, the risk can be judged in advance.

According to an embodiment of the present invention, in the above embodiment, the changing the operation state of the stair climbing wheelchair specifically includes:

the span of the front wheel and the rear wheel of the wheelchair and the rotating speed of the hub of the wheelchair are changed.

It should be noted that, the stair climbing wheelchair travels on steps or other platforms, and if the included angle is greater than a preset threshold value, the stair climbing wheelchair may also travel forward, so it is necessary to stop the stair climbing wheelchair or move the stair climbing wheelchair in the opposite direction. Therefore, after the included angle difference value is judged to be larger than the preset included angle threshold value, the span of the stair climbing wheelchair is changed or the control turning is performed until the included angle difference value is smaller than the preset safe included angle threshold value. The difference between the included angles is the value of the first included angle and the second included angle, and an absolute value can be taken.

FIG. 3 illustrates a block diagram of a steering engine protection system of a machine of the present invention.

As shown in fig. 3, the second aspect of the present invention further provides a wheelchair protection system for climbing stairs based on wheel hub detection, the system comprising: the system comprises a memory 31 and a processor 32, wherein the memory comprises a stair climbing wheelchair protection program based on hub detection, and when the processor executes the stair climbing wheelchair protection method program based on hub detection, the following steps are realized:

acquiring a current state value of the hub;

calculating the change rate of the current state value;

judging whether the change rate of the state value exceeds a preset change rate threshold value or not;

and if the change rate threshold value is exceeded, adjusting the running state of the stair climbing wheelchair.

The stair climbing wheelchair may be a stair climbing robot or other machines. The stair climbing wheelchair is provided with a sensor, and can acquire the state values of the corresponding stair climbing wheelchair, such as speed, acceleration, horizontal position, coordinate position, height position from the horizontal plane and other information. The current hub state value obtained by the sensor is sent to a processor in the fuselage, and the change rate of the current state value is calculated by the processor, wherein the change rate can be calculated by the following formula:

change rate of state value ═ (current state value-state value before preset time)/preset time

The preset time is preset in advance by a technician, for example, 0.5s, 00ms and the like are set; or the stair climbing wheelchair is automatically updated in the operation process, the operation state of the stair climbing wheelchair is judged, and the preset time is dynamically updated according to the operation state. For example, when the stair climbing wheelchair is in a static state, the preset time can be increased without excessively intensive sampling; when the stair climbing wheelchair is in a motion state, the preset time can be shortened, more intensive sampling is carried out, and the outburst situation in the operation process is prevented.

After the rate of change of the state values is calculated, it will be determined whether a preset rate threshold is exceeded. The change rate threshold is set by a person skilled in the art according to actual needs, and may also be dynamically changed. If the change rate threshold value is exceeded, the wheelchair is likely to fall or be impacted by external force, and in this case, the falling of the passenger is likely to occur, so the state of the wheelchair will be changed. The span of the front wheel and the rear wheel of the wheelchair can be changed, the rotating speed of the hub of the wheelchair is changed, the position and the posture of the wheelchair can be adjusted, and the center of gravity of the whole stair climbing wheelchair is stable. Through the detection and the judgment of the change rate of the state value, the falling risk can be prevented, and the safety of the person who climbs the stair wheelchair is improved.

According to the embodiment of the present invention, the determining whether the change rate of the state value exceeds a preset change rate threshold value, and if the change rate exceeds the change rate threshold value, changing the operation state of the stair climbing wheelchair specifically includes:

acquiring a current speed value of the hub;

calculating a speed change rate of the hub;

judging whether the speed change rate is greater than or equal to a preset speed change rate threshold value or not;

if yes, further judging whether the current speed value is greater than or equal to a preset speed threshold value;

if so, changing the operation state of the stair climbing wheelchair.

Since the state includes a plurality of parameters, it is preferable to determine the speed, and the operating state of the wheelchair can be determined more appropriately by determining the speed. First, the current speed value of the hub is obtained and can be obtained through a sensor. The rate of change of the speed of the hub, i.e. the value of the acceleration, is then calculated. And judging whether the speed change rate is greater than or equal to a preset speed change rate threshold value or not. And after the speed change rate is judged to be larger than the speed change rate threshold, further judging whether the current speed value is larger than a preset speed threshold. Through the judgement to the present velocity value, some little acceleration shake of elimination that can be fine, for example, at the in-process of climbing building wheelchair downstairs, the fluctuation of step can lead to the in-process transient acceleration increase at the downstairs, but because the relative vertical displacement is shorter when downstairs, so speed can not too much increase, that is to say speed does not reach can dangerous level, so change the span of front and back wheel this moment and can influence the stability of climbing building wheelchair. Therefore, the current speed value can be further judged to better filter small shakes on the basis of exceeding the speed change rate threshold value, so that the operation of the stair climbing wheelchair is more reliable and stable.

According to the embodiment of the invention, the method further comprises the following steps:

acquiring the displacement direction of the stair climbing wheelchair;

according to the displacement direction, obtaining rotation information of the hub within the range of the included angle of the displacement direction;

and changing the running state of the stair climbing wheelchair within the range of the included angle of the displacement direction.

The present invention also actively controls the state of the wheelchair according to the displacement direction of the wheelchair. Firstly, the displacement direction of the stair climbing wheelchair is obtained, and the displacement direction of the stair climbing wheelchair can be obtained according to a sensor in the stair climbing wheelchair. Whether the hub is abnormal or not is judged by acquiring the rotation information of the hub within the included angle range of the displacement direction, and then the state of the stair climbing wheelchair is adjusted in time.

The change of the operating state of the wheelchair includes one or more of changing the span of front and rear wheels of the wheelchair and changing the rotating speed of a hub of the wheelchair. The specific operation state change adopted can be determined according to actual needs, and the invention is not limited to the operation state change situation, and any technical scheme adopting the invention will fall into the protection scope of the invention.

According to the embodiment of the invention, the method further comprises the following steps:

acquiring an included angle between the current gravity center position of the hub and the horizontal plane, wherein the included angle is a first included angle;

acquiring an included angle between the hub and the horizontal plane before the preset time, wherein the included angle is a second included angle;

calculating the difference value of the first included angle and the second included angle to obtain the difference value of the included angles;

judging whether the included angle difference value is larger than a preset included angle threshold value or not;

if the included angle is larger than the preset included angle threshold value, the running state of the stair climbing wheelchair is changed.

It should be noted that, the stair climbing may incline in the process of descending or ascending stairs, and if the step fall is large, the risk of side turning or falling may be caused. Therefore, it is necessary to determine the angle between the current center of gravity of the hub and the horizontal plane. Firstly, acquiring an included angle between the current gravity center position of a front hub and a rear hub and a horizontal plane, wherein the included angle is a first included angle; and recording the first included angle value. And then acquiring the included angle between the hub and the horizontal plane before the preset time, wherein the included angle is a second included angle. It is worth mentioning that the stair climbing wheelchair can record the operation state value collected every time and store the operation state value in a storage medium, and the data which is too long in time can be removed in a circulating storage mode and stored in the latest data. And after the first included angle and the second included angle are obtained, calculating the difference value of the first included angle and the second included angle to obtain the included angle difference value. Judging whether the included angle difference value is larger than a preset included angle threshold value or not; if the included angle is larger than the preset included angle threshold value, the running state of the stair climbing wheelchair is changed. Preferably, the included angle threshold is 30-60 degrees, and more preferably, the included angle threshold is 45 degrees. That is, when the difference is greater than 45 degrees, the operation state of the stair climbing wheelchair is changed. By adopting the judgment of the angle, the risk can be judged in advance.

According to an embodiment of the present invention, in the above embodiment, the changing the operation state of the stair climbing wheelchair specifically includes:

the span of the front wheel and the rear wheel of the wheelchair and the rotating speed of the hub of the wheelchair are changed.

It should be noted that, the stair climbing wheelchair travels on steps or other platforms, and if the included angle is greater than a preset threshold value, the stair climbing wheelchair may also travel forward, so it is necessary to stop the stair climbing wheelchair or move the stair climbing wheelchair in the opposite direction. Therefore, after the included angle difference value is judged to be larger than the preset included angle threshold value, the span of the stair climbing wheelchair is changed or the control turning is performed until the included angle difference value is smaller than the preset safe included angle threshold value. The difference between the included angles is the value of the first included angle and the second included angle, and an absolute value can be taken.

The third aspect of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a program of a method for protecting a wheelchair from climbing buildings based on hub detection, and when the program of the method is executed by a processor, the method realizes the steps of the method for protecting a wheelchair from climbing buildings based on hub detection.

In order to better explain the technical scheme of the invention, the specific steps for protecting the steering engine will be described in detail through several embodiments.