阅读说明：本技术 一种电动轮椅定位跟踪与操控系统 (Electric wheelchair positioning tracking and control system ) 是由 赵安 陈希真 赵丽萍 彭涛 茅卫华 王勇 王均海 于 2021-06-23 设计创作，主要内容包括：一种电动轮椅定位跟踪与操控系统,基于无线网络的电动轮椅定位跟踪与操控系统由智能手机终端、轮椅终端和接口组成；1)电动轮椅定位跟踪与操控系统定位操控智能手机APP,在智能手机中与轮椅终端关联后实现轮椅位置跟踪、周边环境视频显示、视音频通话、行驶路径偏离报警、轮椅终端云台控制、远程轮椅操控功能；2)轮椅终端由多模定位系统、视音频系统、网络通信系统和视音频系统云台组成,系统具有设置家庭位置、行驶障碍安全距离设置与报警、路径规划与导航、一键求助与报警、一键回家、视音频通信功能；3)轮椅终端与轮椅间的接口遵循标准总线协议。(An electric wheelchair positioning, tracking and controlling system based on a wireless network is composed of a smart phone terminal, a wheelchair terminal and an interface; 1) the electric wheelchair positioning tracking and control system positions and controls the smart phone APP, and after the electric wheelchair positioning tracking and control system is associated with a wheelchair terminal in the smart phone, wheelchair position tracking, peripheral environment video display, video and audio call, driving path deviation alarm, wheelchair terminal cradle head control and remote wheelchair control functions are realized; 2) the wheelchair terminal is composed of a multimode positioning system, a video-audio system, a network communication system and a video-audio system holder, wherein the system has the functions of setting the home position, setting and alarming the safe distance of a driving obstacle, planning and navigating a path, seeking help and alarming by one key, returning home by one key and video-audio communication; 3) the interface between the wheelchair terminal and the wheelchair follows a standard bus protocol.)

1. A location tracking and control system of an electric wheelchair is characterized in that the location tracking and control system of the electric wheelchair based on a wireless network is composed of a smart phone terminal, a wheelchair terminal and an interface;

1) the electric wheelchair positioning tracking and control system positions and controls the smart phone APP, and after the electric wheelchair positioning tracking and control system is associated with a wheelchair terminal in the smart phone, wheelchair position tracking, peripheral environment video display, video and audio call, driving path deviation alarm, wheelchair terminal cradle head control and remote wheelchair control functions are realized;

2) the wheelchair terminal is composed of a multimode positioning system, a video-audio system, a network communication system and a video-audio system holder, wherein the system has the functions of setting the home position, setting and alarming the safe distance of a driving obstacle, planning and navigating a path, seeking help and alarming by one key, returning home by one key and video-audio communication;

3) the interface between the wheelchair terminal and the wheelchair follows a standard bus protocol;

the wheelchair terminal hardware comprises: the wheelchair comprises a multimode positioning unit, a video-audio interaction unit, an environment detection unit, a wheelchair display and control terminal, a wheelchair control driving unit, a cradle head and the like;

the multi-mode positioning unit provides accurate wheelchair position information through a Beidou and GPS positioning system, and is used for wheelchair users to determine the geographic position of the wheelchair users and display the wheelchair position for families; the environment detection unit consists of a video probe and a distance meter and is used for observing the driving environment of the wheelchair and detecting the dangerous distance of the barrier; the video and audio interaction unit consists of a camera and a sound pickup head, is used for communication between a wheelchair user and a wheelchair terminal and family members, and can be used for setting a wheelchair running path, controlling the wheelchair running direction and speed, seeking help and the like; the holder is used for controlling the rotation and the pitching of the wheelchair video and audio terminal; the wheelchair control driving unit mainly converts the wheelchair driving direction and speed information issued by a wheelchair user or family through remote control into control information of the wheelchair driving equipment;

the device is provided with a display and control terminal, is composed of a customized IPAD and integrated multimode positioning unit, a video and audio interaction unit, an environment detection unit and a wheelchair control driving unit, is arranged on a holder, has a network communication function, has touch control and voice control operation, and is used for interaction and control of people and wheelchairs.

2. The method for positioning, tracking and operating the electric wheelchair as claimed in claim 1, wherein the method has the functions of setting a home position, setting and alarming a safe distance of a driving obstacle, planning and navigating a path, seeking help and alarming by one key, returning home by one key, video and audio communication and the like; the method comprises the following steps:

the key technology is that after the 'one-key returning home' is pressed, the system plans a path according to the driving rule of the non-motor vehicle, automatically drives the wheelchair to drive, and has certain automatic warning and obstacle avoidance functions; automatic driving basic algorithm:

after pressing 'one key goes home', the system plans to determine a starting point A by longitude and latitude coordinates according to the driving rule of the non-motor vehicle, and the following steps are carried out on an electronic map: passing through the road through the point C and turning back to the home; at this time, the A point is used as the first standard geographic coordinate value (let the longitude and latitude values be X respectively)₀，Y₀) Determining direction of travel from current position and next turning point, e.g.Of the formula

H₁＝arctan(X_c-X₀)/(Y_c-Y₀)，H₁＝90°

The wheelchair should continue to travel eastward and when the wheelchair reaches point B over t minutes, the location unit obtains a real-time location (set to X)_b，Y_b) And the standard position at time t should be (X)_t，Y_t)；

Wherein X_t＝X₀+siaH₁Vt＝X₀+ Vt V is wheelchair speed;

Y_t＝Y₀+cosH₁Vt＝Y₀

the deviation amount Δ X is X_b-X_t

ΔY＝Y_b-Y_t

If the delta X is more than 0, the warp direction is advanced and the delta X is less than 0 relative to the north latitude area of the east warp

If DeltaY is more than 0, then the weft direction is advanced, and if DeltaY is less than 0, then the weft direction is lagged

Deviation rectifying strategy:

steering to the right for small angles and slightly decelerating if DeltaX > 0 and DeltaY > 0

If DeltaX is more than 0 and DeltaY is less than 0, steering is carried out at a small angle to the left, and the speed is slightly reduced

Steering to the right for a small angle and slightly accelerating if DeltaX is less than 0 and DeltaY is more than 0

If the delta X is less than 0 and the delta Y is less than 0, steering the steering wheel to the left by a small angle and slightly accelerating the steering wheel.

3. A method according to claim 2, characterized in that, since t is of a small value, the wheelchair is ensured to travel on a given path by continuous deviation correction according to the differential principle.

4. The method of claim 2, wherein when an obstacle is encountered, the stop automatically deducts the time used so as not to affect the estimation.

5. The method of claim 2, wherein the home address setting supports entering geographic latitude and longitude coordinates; the cruising speed must not exceed the wheelchair specification speed.

6. The method of claim 2, wherein the public emergency telephone 120, 110, 119 is factory mandated.

Technical Field

The invention relates to an intelligent terminal of an electric wheelchair moving at a low speed (5-10km/h), in particular to a positioning tracking and navigation method and an operation system of the electric wheelchair.

Background

The electric wheelchair is an ideal walking tool for people with lower limb walking disorder (incapability or partial incapability), but once the disabled person goes out alone, the family can worry about whether the disabled person is safe on the road? How well is the body state? Can remember a way to go home? The invention aims to enable family members to master the position and the running path of the wheelchair in real time by utilizing a positioning and communication technology, enable the family members to know the state and the current surrounding environment of disabled persons in real time through a video system, and set a returning route through a key and remotely control the wheelchair to run.

At present, the manual control technology of the electric wheelchair is mature, the multimode positioning technology based on Beidou, GPS and the like is also very mature, the video monitoring technology based on the whole network is mature, and the interface technology of the electric wheelchair and a control terminal is not difficult. The invention has relatively perfect technical foundation and mainly is a technical integration invention.

Disclosure of Invention

The invention aims to provide a positioning, tracking and operating system of an electric wheelchair.

The technical scheme of the invention is that the electric wheelchair positioning, tracking and control system based on a wireless network consists of a smart phone terminal, a wheelchair terminal and an interface;

1) the electric wheelchair positioning tracking and control system is called positioning control smart phone APP for short, and functions of wheelchair position tracking, peripheral environment video display, video and audio call, driving path deviation alarm, wheelchair terminal cradle head control, remote wheelchair control and the like can be realized after the electric wheelchair positioning tracking and control system is associated with a wheelchair terminal in the smart phone.

2) The wheelchair terminal is composed of a multi-mode positioning system, a video-audio system, a network communication system, a holder and the like, and the developed software system has the functions of setting the home position, setting and alarming the safe distance of the driving obstacle, planning and navigating the path, seeking help and alarming by one key, returning home by one key, video-audio communication and the like.

3) The interface between the wheelchair terminal and the wheelchair follows a standard bus protocol.

Has the advantages that: the invention can be used for an electric wheelchair manufacturer to directly manufacture a manual/remote control duplex product, can also be used for modifying an old electric wheelchair, mainly solves the problem that families of lower limb walking incapacitated people master the driving state and the surrounding environment of the electric wheelchair in real time, and has very important significance for improving the life happiness of the families.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a flow chart of wheelchair positioning control APP;

FIG. 3 is a block diagram of a wheelchair terminal;

FIG. 4 is a software system flow diagram;

fig. 5 shows a route which starts from point a, passes through a road via point C, and returns to home.

Detailed Description

The overall structure is that in fig. 1, the electric wheelchair positioning, tracking and control system is composed of a smart phone terminal, a wheelchair terminal and an interface.

1) A mobile phone terminal APP: the wheelchair remote control system has the functions of wheelchair position tracking, peripheral environment video display, audio and video call, driving route deviation alarm, wheelchair terminal holder control, remote wheelchair control and the like.

The system has the functions of setting the home position, setting and alarming the safe distance of the driving obstacle, planning and navigating the path, seeking help and alarming by one key, returning home by one key, video and audio communication and the like.

2) Wheelchair positioning control APP

The functions of wheelchair position tracking, peripheral environment video display, video and audio call, driving path deviation alarm, wheelchair terminal cradle head control, remote wheelchair control and the like can be realized after the intelligent mobile phone is associated with the wheelchair terminal. The software flow chart is shown in figure 2 as follows:

3) wheelchair terminal

(A) hardware Components

The wheelchair comprises a multi-mode positioning unit, a video-audio interaction unit, an environment detection unit, a wheelchair display and control terminal, a wheelchair control driving unit, a cradle head and the like. The developed software system has the functions of setting the home position, setting and alarming the safe distance of the driving obstacle, planning and navigating the path, seeking help and alarming by one key, returning home by one key, video and audio communication and the like.

The interface between the wheelchair terminal and the wheelchair follows a standard bus protocol.

The multi-mode positioning unit provides accurate wheelchair position information through a Beidou and GPS positioning system, and is used for wheelchair users to determine the geographic position of the wheelchair users and display the wheelchair position for families; the environment detection unit consists of a video probe and a distance meter and is used for observing the driving environment of the wheelchair and detecting the dangerous distance of the barrier; the video and audio interaction unit consists of a camera and a sound pickup head, is used for communication between a wheelchair user and a wheelchair terminal and family members, and can be used for setting a wheelchair running path, controlling the wheelchair running direction and speed, seeking help and the like; the holder is used for controlling the rotation and the pitching of the wheelchair terminal; the wheelchair control driving unit mainly converts the wheelchair driving direction and speed information issued by a wheelchair user or family through remote control into control information of the wheelchair driving equipment; the display and control terminal is composed of a customized IPAD and integrated multimode positioning unit, a video and audio interaction unit, an environment detection unit and a wheelchair control drive unit, is arranged on the holder, has a network communication function, has touch control and voice control operation, and is used for interaction and control of people and wheelchairs.

(II) software System flow diagram

The system has the functions of setting the home position, setting and alarming the safe distance of the driving obstacle, planning and navigating the path, seeking help and alarming by one key, returning home by one key, video and audio communication and the like. The flow chart is as follows:

the home address setting supports the input of geographic latitude and longitude coordinates and the labels on fig. 3.

The cruising speed must not exceed the wheelchair specification speed.

120. 110, 119 public emergency telephones are factory forced to preset.

The key technology is that after the 'one-key returning home' is pressed, the system plans a path according to the running of the non-motor vehicle, automatically drives the wheelchair to run, and has certain automatic warning and obstacle avoidance functions.

Automatic driving basic algorithm:

referring to fig. 5, when "go home with one key" is pressed, the system plans a route starting from point a, passing through a road via point C, and returning home according to the driving of a non-motor vehicle (an electronic map, which may be the existing one). At this time, the A point is used as the first standard geographic coordinate value (let the longitude and latitude values be X respectively)₀，Y₀) Determining the direction of travel from the current position and the next turning point, as follows

H₁＝arctan(X_c-X₀)/(Y_c-Y₀)，H₁＝90°

The wheelchair should continue to travel eastward and the location unit can obtain a real-time location (set to X) when the wheelchair reaches point B over t minutes_b，Y_b) And the standard position at time t should be (X)_t，Y_t)。

Wherein X_t＝X₀+siaH₁Vt＝X₀+ Vt (V is the wheelchair speed),

Y_t＝Y₀+cosH₁Vt＝Y₀

the deviation amount Δ X is X_b-X_t

ΔY＝Y_b-Y_t

If the delta X is more than 0, the warp direction is advanced, and the delta X is less than 0, the warp direction is delayed relative to the north latitude area of the east warp,

if DeltaY is more than 0, the weft direction is advanced, if DeltaY is less than 0, the weft direction is delayed,

deviation rectifying strategy:

if Δ X > 0 and Δ Y > 0, steering to the right for a small angle, slightly decelerating,

if the delta X is more than 0 and the delta Y is less than 0, steering is carried out at a small angle to the left, slightly decelerating,

if DeltaX is less than 0 and DeltaY is more than 0, steering to the right by a small angle, slightly accelerating,

if the delta X is less than 0 and the delta Y is less than 0, steering to the left at a small angle and slightly accelerating;

because the value of t is small (several minutes, acceleration and deceleration can be guaranteed to react in time), according to the differential principle, the wheelchair can be guaranteed to run on a given path by continuous deviation rectification or an electronic map, and a passenger can actively monitor.

When an obstacle is encountered, the parking system can automatically deduct the used time, so that the calculation result is not influenced.