阅读说明：本技术 一种智能轮椅的控制方法及智能轮椅 (Control method of intelligent wheelchair and intelligent wheelchair ) 是由 单小芮 姜云飞 于 2021-07-29 设计创作，主要内容包括：本发明提出了一种智能轮椅的控制方法及智能轮椅；其中,方法包括：通过智能手机获取后台服务；由所述智能轮椅的控制板与所述智能手机通信连接,获取所述后台服务以及所述智能手机对所述后台服务的硬件支持。本发明的有益效果包括：本发明利用智能手机为智能轮椅提供后台服务,能够充分的利用智能手机的软件资源和硬件资源实现降低智能化成本的目的。(The invention provides a control method of an intelligent wheelchair and the intelligent wheelchair; the method comprises the following steps: acquiring background services through a smart phone; and the control panel of the intelligent wheelchair is in communication connection with the intelligent mobile phone to acquire the background service and the hardware support of the intelligent mobile phone to the background service. The beneficial effects of the invention include: the intelligent wheelchair and the method thereof utilize the intelligent mobile phone to provide background service for the intelligent wheelchair, and software resources and hardware resources of the intelligent mobile phone can be fully utilized to achieve the purpose of reducing intelligent cost.)

1. A control method of an intelligent wheelchair, the method comprising:

acquiring background services through a smart phone;

and the control panel of the intelligent wheelchair is in communication connection with the intelligent mobile phone to acquire the background service and the hardware support of the intelligent mobile phone to the background service.

2. The method for controlling the intelligent wheelchair as claimed in claim 1, wherein the obtaining of the background service by the communication connection between the control board of the intelligent wheelchair and the smart phone comprises:

responding to the background updating service acquired by the smart phone, generating a corresponding configuration updating instruction by the smart phone according to the background updating service, and sending the configuration updating instruction to the control panel;

the control board receives a configuration updating instruction from the smart phone and updates a corresponding function configuration file in a storage module of the control board according to the configuration updating instruction.

3. The method for controlling the intelligent wheelchair as claimed in claim 1, wherein the obtaining of the background service by the communication connection between the control board of the intelligent wheelchair and the smart phone comprises:

responding to the situation that a background newly-added function service is obtained through the smart phone, generating a corresponding configuration newly-added instruction by the smart phone according to the background newly-added function service, and sending the configuration newly-added instruction to the control board;

the control board receives a configuration newly-added instruction from the smart phone and newly adds a function configuration file in a storage module of the control board according to the configuration newly-added instruction.

4. The method for controlling the intelligent wheelchair as claimed in claim 2 or 3, wherein the obtaining of the hardware support of the smartphone for the background service by the control board of the intelligent wheelchair is performed by communicating with the smartphone, and comprises:

responding to a function configuration file starting instruction received by the control board, and calling the function configuration file to generate a corresponding control instruction;

and sending the control instruction to the smart phone, and controlling corresponding hardware in the smart phone to execute corresponding operation.

5. The method of controlling an intelligent wheelchair as claimed in claim 4, further comprising:

responding to a function configuration file starting instruction received by the control board, and calling the function configuration file to generate a corresponding control instruction;

and sending the control instruction to other hardware modules in communication connection with the control board, and controlling the other hardware modules to execute corresponding operations.

6. The method of claim 5, wherein the function profile comprises an image recognition function profile configured for offline recognition of traffic lights, signs, and warning signs;

the method further comprises the following steps: responding to the control board receiving the image recognition function configuration file starting instruction, and calling the image recognition function configuration file to generate a camera shooting control instruction; and sending the camera shooting control instruction to a camera shooting module of the smart phone and/or other camera shooting modules connected with the control panel and obtaining image data.

7. The method of claim 6, wherein the function configuration file further comprises a voice broadcast function configuration file, the voice broadcast function configuration file is configured to perform voice broadcast on the offline recognition result of the image data, and the broadcast content comprises: the status of the traffic lights, the content and meaning of the signs, and/or the content and meaning of the warning signs.

8. The method of claim 2, wherein the function profile comprises an ultrasound alarm function profile configured to control the ultrasound module to measure distance and to issue an alarm when the measured distance is less than a predetermined safety distance.

9. An intelligent wheelchair, comprising:

a main body;

the control panel is an integrated circuit board, the integrated circuit board assembly comprises a processing module, a storage module and a plurality of hardware equipment interfaces, the plurality of hardware equipment interfaces at least comprise a mobile phone communication interface and are used for being in communication connection with a smart phone, and the storage module and the plurality of hardware equipment interfaces are respectively connected with the processing module;

the smart phone is in communication connection with the control board and is configured to acquire background services and update the function configuration file in the storage module of the control board according to the background services; and providing hardware support for the functional configuration file;

wherein the control panel is detachably fixed to the main body.

10. The smart wheelchair of claim 9 further comprising:

the intelligent television comprises one or more camera modules, a Bluetooth module, a display module, a sound module, an ultrasonic module, a power supply module and/or a fan module, wherein the one or more camera modules, the display module, the sound module, the ultrasonic module, the power supply module and/or the fan module are in communication connection with the processing module through the hardware equipment interfaces or the Bluetooth module and are fixed on the main body in a detachable mode.

Technical Field

The invention relates to the field of intelligent equipment control, in particular to a control method of an intelligent wheelchair and the intelligent wheelchair.

Background

With the deepened concept of intellectualization and the advanced development of technology, a plurality of intelligent wheelchairs with different functions emerge on the market. Besides the motor drive for riding instead of walking, the intelligent wheelchairs are additionally provided with hardware devices such as an accelerometer, a gyroscope, a temperature and humidity sensor and a monitoring camera, so that the wheelchairs have intelligent functions of running track recording, temperature and humidity sensing, motion control, remote monitoring, two-way communication and the like, and the experience and the feeling of users are improved.

In the prior art, the wheelchair is purchased in one piece at one time, namely, the wheelchair is purchased in one piece from a supplier whether the user purchases the wheelchair for the first time or changes (upgrades) the wheelchair, and the wheelchair is difficult to select for the user who uses the wheelchair for the first time because the brand and quality of the wheelchair and the condition of using the wheelchair are not clear. And the user who changes (upgrades) the wheelchair can't transplant the outstanding function point on the old wheelchair to the new wheelchair, need pay the more complete wheelchair of upward increment selection function of expense when changing. In the aspects of after sale and maintenance, after contacting with a supplier in a telephone mode, the product is modified or automatically sent to a maintenance point for maintenance.

The prior art has at least the following problems: the additional intelligent function of intelligent wheelchair, partly can realize easily through the smart mobile phone, if: temperature and humidity sensing and two-way conversation functions, and the smart phone is more advantageous in the aspects of flow rate charge, use convenience and the like in terms of implementation. The other part does not provide great gain to the wheelchair user, such as: track recording and motion control functions. The integration of these additional functions makes smart wheelchairs expensive (four thousand yuan, up to tens of thousands yuan) at a price 2 to 10 times higher than that of ordinary electric wheelchairs.

In addition, the embedded integration of the sensor improves the zero integral ratio of the wheelchair, and the wheelchair is difficult to encounter collision, collision and vibration in the application scene of the wheelchair, so that the failure probability of electronic parts is increased, the robustness is insufficient, the parts are easy to fail, the whole wheelchair is unusable, the use requirement of a user is influenced, and the maintenance cost is increased. Meanwhile, due to the high price and the numerous electronic parts of the intelligent wheelchair, a user needs to consider the usability of the intelligent wheelchair in the scenes of bumpy road sections, rainy days and the like, and the cost is reduced.

Disclosure of Invention

In order to solve the technical problem, in one aspect of the present invention, a method for controlling an intelligent wheelchair is provided, the method including: acquiring background services through a smart phone; and the control panel of the intelligent wheelchair is in communication connection with the intelligent mobile phone to acquire the background service and the hardware support of the intelligent mobile phone to the background service.

In one or more embodiments, the obtaining the background service by the communication connection between the control board of the smart wheelchair and the smart phone includes: responding to the background updating service acquired by the smart phone, generating a corresponding configuration updating instruction by the smart phone according to the background updating service, and sending the configuration updating instruction to the control panel; the control board receives a configuration updating instruction from the smart phone and updates a corresponding function configuration file in a storage module of the control board according to the configuration updating instruction.

In one or more embodiments, the obtaining the background service by the communication connection between the control board of the smart wheelchair and the smart phone includes: responding to the situation that a background newly-added function service is obtained through the smart phone, generating a corresponding configuration newly-added instruction by the smart phone according to the background newly-added function service, and sending the configuration newly-added instruction to the control board; the control board receives a configuration newly-added instruction from the smart phone and newly adds a function configuration file in a storage module of the control board according to the configuration newly-added instruction.

In one or more embodiments, the obtaining, by the control board of the smart wheelchair being in communication with the smartphone, the hardware support of the smartphone for the background service includes: responding to a function configuration file starting instruction received by the control board, and calling the function configuration file to generate a corresponding control instruction; and sending the control instruction to the smart phone, and controlling corresponding hardware in the smart phone to execute corresponding operation.

In one or more embodiments, the control method of the intelligent wheelchair further includes: responding to a function configuration file starting instruction received by the control board, and calling the function configuration file to generate a corresponding control instruction; and sending the control instruction to other hardware modules in communication connection with the control board, and controlling the other hardware modules to execute corresponding operations.

In one or more embodiments, the function profiles include an image recognition function profile configured for offline recognition of traffic lights, signs, and warning signs; correspondingly, the control method of the intelligent wheelchair further comprises the following steps: responding to the control board receiving the image recognition function configuration file updating starting instruction, and calling the image recognition function configuration file to generate a camera shooting control instruction; and sending the camera shooting control instruction to a camera shooting module of the smart phone and/or other camera shooting modules connected with the control panel and obtaining image data.

In one or more embodiments, the function configuration file further includes a voice broadcast function configuration file, the voice broadcast function configuration file is configured to perform voice broadcast on the offline recognition result of the image data, and the broadcast content includes: the status of the traffic lights, the content and meaning of the signs, and/or the content and meaning of the warning signs.

In one or more embodiments, the function profile includes an ultrasound alarm function profile configured to control the ultrasound module to measure a distance and to issue an alarm when the measured distance is less than a preset safety distance.

In another aspect of the present invention, a smart wheelchair is provided, comprising: a main body; the control panel is an integrated circuit board, the integrated circuit board assembly comprises a processing module, a storage module and a plurality of hardware equipment interfaces, the plurality of hardware equipment interfaces at least comprise a mobile phone communication interface and are used for being in communication connection with a smart phone, and the storage module and the plurality of hardware equipment interfaces are respectively connected with the processing module; the smart phone is in communication connection with the control board and is configured to acquire background services and update the function configuration file in the storage module of the control board according to the background services; and providing hardware support for the functional configuration file; wherein the control panel is detachably fixed to the main body.

In one or more embodiments, the smart wheelchair further comprises: the intelligent television comprises one or more camera modules, a Bluetooth module, a display module, a sound module, an ultrasonic module, a power supply module and/or a fan module, wherein the one or more camera modules, the display module, the sound module, the ultrasonic module, the power supply module and/or the fan module are in communication connection with the processing module through the hardware equipment interfaces or the Bluetooth module and are fixed on the main body in a detachable mode.

The beneficial effects of the invention include: according to the invention, the smart phone is used for providing background service for the smart wheelchair, and software resources and hardware resources of the smart phone can be fully utilized to achieve the purpose of reducing the intelligent cost.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained by using the drawings without creative efforts.

FIG. 1 is a flow chart illustrating the operation of a method of controlling an intelligent wheelchair according to the present invention;

FIG. 2 is a schematic structural view of the intelligent wheelchair of the present invention;

FIG. 3 is a schematic view of the connection of the intelligent wheelchair of the present invention to its peripheral devices;

FIG. 4 is a schematic diagram of an application interface of a dedicated application program according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the following embodiments of the present invention are described in further detail with reference to the accompanying drawings.

It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are used for distinguishing two entities with the same name but different names or different parameters, and it should be noted that "first" and "second" are merely for convenience of description and should not be construed as limitations of the embodiments of the present invention, and they are not described in any more detail in the following embodiments.

Fig. 1 is a work flow chart of a control method of an intelligent wheelchair according to the present invention. As shown in fig. 1, the work flow of the control method of the intelligent wheelchair of the present invention includes: step 10, acquiring background services through a smart phone; and 20, the control panel of the intelligent wheelchair is in communication connection with the intelligent mobile phone to obtain background services and hardware support of the intelligent mobile phone to the background services. The smart phone is provided with a corresponding application program. According to the invention, background services (such as function configuration updating services and newly-added function configuration services) are acquired by the smart phone, the background services are analyzed by the smart phone and instructions are generated and then issued to the smart wheelchair, so that the acquisition of the background services by the smart wheelchair is realized, and when the smart wheelchair executes corresponding operations according to the updating functions or the newly-added functions, the smart phone is used as peripheral hardware equipment of the smart wheelchair to provide hardware support.

In a further embodiment, the method for acquiring the background service by the communication connection between the control panel of the intelligent wheelchair and the smart phone comprises the following steps: responding to the background updating service acquired by the smart phone, generating a corresponding configuration updating instruction by the smart phone according to the background updating service, and sending the configuration updating instruction to the control panel; the control panel receives a configuration updating instruction from the smart phone and updates a corresponding function configuration file in a storage module of the control panel according to the configuration updating instruction. In this embodiment, the functions of the intelligent wheelchair can be flexibly configured by acquiring background services through the smart phone and issuing configuration instructions, where the issued configuration instructions include increasing or decreasing function configuration files and updating the function configuration files.

In a further embodiment, the method for acquiring the background service by the communication connection between the control panel of the intelligent wheelchair and the smart phone comprises the following steps: responding to the acquisition of the background newly added function service through the smart phone, generating a corresponding configuration newly added instruction by the smart phone according to the background newly added function service, and sending the configuration newly added instruction to the control board; the control board receives a configuration newly-added instruction from the smart phone and newly-adds a function configuration file in a storage module of the control board according to the configuration newly-added instruction. After the smart phone acquires the background newly-added function service, a corresponding icon is generated in the special APP for controlling the starting or stopping of the corresponding function.

In a further embodiment, the method for acquiring the hardware support of the smart phone for the background service by the control panel of the smart wheelchair in communication connection with the smart phone comprises the following steps: responding to a function configuration file starting instruction received by the control board, calling the function configuration file to generate a corresponding control instruction; and sending the control instruction to the smart phone, and controlling corresponding hardware in the smart phone to execute corresponding operation. In this embodiment, the generation of the start instruction may be implemented by operating a corresponding function icon in a dedicated APP of the smart phone, and sending the function icon to the control board; the control board has task processing capacity, and the control board can call the function configuration file to generate a corresponding control instruction and send the control instruction to corresponding hardware equipment. The smart phone is used for receiving background services, issuing a corresponding configuration updating instruction or a configuration newly-added instruction, and serving as peripheral hardware equipment of the smart seat to provide corresponding hardware support. Of course, the control instruction may also be sent to other hardware modules in communication connection with the control board, and control the other hardware modules to perform corresponding operations.

In one implementation, when the function of the hardware device communicatively connected to the control board is repeated with the function of the hardware module in the smartphone, the corresponding control instruction is sent by default to the hardware device communicatively connected to the control board. For example, when the peripheral hardware device of the control board has a camera, the image acquisition instruction is preferentially sent to the camera when the image acquisition instruction is executed.

In another specific implementation, the method of the present invention further determines to send the corresponding control command to the corresponding hardware module or other peripheral hardware devices in the smart phone according to the specific application scenario. For example, when the peripheral device of the control panel has a camera but the camera is set to capture an image behind the smart wheelchair, when the image acquisition instruction is to acquire an image in front of the smart wheelchair, the image acquisition instruction is sent to the smartphone. In the implementation, because the space degree of freedom of the smart phone is higher, when the peripheral camera of the smart wheelchair cannot acquire the image in the designated direction, the image acquisition instruction is sent to the smart phone. In addition, the selection of the peripheral hardware device can also be manually realized by operating application software (APP) in the smart phone.

In a further embodiment, the function profiles include an image recognition function profile configured for offline recognition of traffic lights, signs, and warning signs; accordingly, the method further comprises: in response to the control board receiving an image recognition function configuration file updating starting instruction, calling the image recognition function configuration file to generate a camera shooting control instruction; and sending the camera shooting control instruction to a camera shooting module of the smart phone and/or other camera shooting modules connected with the control panel and obtaining image data. More specifically, in order to implement the offline image recognition function, a pre-trained image recognition model is preset in the image recognition function configuration file. In this embodiment, the intelligent wheelchair collects image data through the camera and captures and identifies signal lamps, signs and/or warning boards in the collected images according to a preset image recognition model.

In a further embodiment, the function configuration file further includes a voice broadcast function configuration file, the voice broadcast function configuration file is configured to perform voice broadcast on an offline recognition result of the image data, and the broadcast content includes: the status of the traffic lights, the content and meaning of the signs, and/or the content and meaning of the warning signs. In this embodiment, the voice broadcast function cooperates with the image recognition function to catch signal lamps and warning boards, and after recognition, the user is given prompt and voice prompt on a display screen, so that the user can be assisted to avoid in advance, and the safety of the user is guaranteed.

In an optional embodiment, the image recognition model preset in the image recognition function configuration file further includes a face recognition model, and further, the identity information of the recognized face is subjected to voice broadcast in combination with a voice broadcast function, such as a name, a relationship with a user of the intelligent wheelchair, and the like.

In a further embodiment, the function profile comprises an ultrasound alarm function profile configured to control the ultrasound module to measure the distance and to issue an alarm when the measured distance is less than a preset safety distance. In this embodiment, the peripheral hardware equipment of intelligence wheelchair still includes the ultrasonic wave module, and the ultrasonic wave module generally sets up in the below of wheelchair to monitor the barrier that the road surface exists, send out the warning suggestion when the distance of barrier and wheelchair reaches safe distance. In addition, the alarm prompt can also be realized by voice broadcast.

In an alternative embodiment, the hardware device for implementing the voice broadcast function may be a speaker module connected to a control board of the intelligent wheelchair, that is, a single hardware device on the periphery of the intelligent wheelchair.

In another optional embodiment, since the smart phone has a speaker module, the hardware device for implementing the voice broadcast function may be the speaker module in the smart phone.

Fig. 2 is a schematic structural diagram of the intelligent wheelchair of the invention. The intelligent wheelchair comprises a main body 1 and a control panel 2, and further comprises a smart phone (the smart phone is not shown), wherein 1-1 to 1-8 are main components of the main body 1 and are respectively a backrest 1-1, armrests 1-2, manual wheels 1-3, a seat surface 1-4, wheel rings 1-5, a brake system 1-6, auxiliary wheels 1-7 and pedals 1-8. As shown in fig. 2, the intelligent wheelchair in the present embodiment includes: the main body 1, the main body 1 is a wheelchair; the control panel 2, the control panel 2 is an integrated circuit board, the integrated circuit board is integrated and includes processing module, memory module and multiple hardware device interfaces, multiple hardware device interfaces include a mobile phone communication interface at least, used for communicating with the smartphone, the memory module and multiple hardware device interfaces are connected with processing module separately; the smart phone is in communication connection with the control panel and is configured to acquire background services and update the function configuration file in the storage module of the control panel according to the background services; and providing hardware support for the function configuration file; wherein the control panel is detachably fixed in place on the main body. In the present embodiment, the control panel 2 is provided inside the backrest 1-1.

The intelligent wheelchair provided by the invention can be in communication connection with the intelligent mobile phone through the control panel, and function configuration files in the control panel are configured and stored through the intelligent mobile phone, so that the functions of the intelligent wheelchair can be increased, decreased and modified. In this way, the invention can achieve the purpose of intellectualization with the lowest manufacturing cost. The smart phone is provided with a special application program of the smart wheelchair, so as to realize the process.

In a further embodiment, in consideration of the portability of the communication connection with each hardware device assembled with the intelligent wheelchair of the present invention, the present invention provides a wireless connection in addition to a plurality of hardware device interfaces through the control panel. In this implementation, the intelligent wheelchair of the present invention further comprises a bluetooth module, wherein the bluetooth module is connected to the processing module and configured to be in communication connection with other hardware devices including a smartphone.

In an alternative implementation, the bluetooth module will occupy a hardware device interface, i.e. connect with the processing module in the control board of the present invention through a hardware interface. The advantage of this kind of mode is once the bluetooth module damages, it is comparatively convenient to its change.

In another alternative embodiment, the bluetooth module is integrated on the control board and connected to a processing module in the control board. The mode does not need to occupy hardware equipment interfaces, and the fault rate of the Bluetooth module is very low, so that the normal and stable work of the intelligent wheelchair can be ensured.

In a further embodiment, considering that the hardware resources in the smart phone are limited, the smart wheelchair of the present invention further provides hardware device matching, and obtains corresponding function configuration through the smart phone, so that the function combination of the smart wheelchair of the present invention is more flexible, and is convenient for users with different requirements to select. Fig. 3 is a schematic view of the connection between the intelligent wheelchair and the peripheral devices thereof. In this embodiment, the hardware device that the user can select includes a plurality of camera modules 2-6 and 2-5, a display module 2-3, an audio module 2-7, an ultrasonic module 2-4, a power supply module 2-1 and/or a fan module 2-2, wherein the plurality of camera modules 2-5/2-6, the display module 2-3, the audio module 2-7, the ultrasonic module 2-4, the power supply module 2-1 and/or the fan module 2-2 are communicatively connected with the control board 2 through corresponding hardware device interfaces or bluetooth modules, and are detachably fixed at a proper position of the main body.

In one embodiment, the control board 2 of the present invention is a raspberry pi 4B board with a plurality of hardware device interfaces, and the control board can be downgraded to a raspberry pi 3B board with a plurality of hardware device interfaces according to actual needs.

FIG. 4 is a schematic diagram of an application interface of a dedicated application program according to the present invention. As shown in fig. 4, the functional configuration includes: the method comprises the steps of turning on a rear camera, intelligently identifying, positioning and reporting, adjusting volume and setting more. The function configuration files of the functions and the updating, adding and/or deleting of the function configuration files are supported by background services.

The foregoing is an exemplary embodiment of the present disclosure, but it should be noted that various changes and modifications could be made herein without departing from the scope of the present disclosure as defined by the appended claims. The functions, steps and/or actions of the method claims in accordance with the disclosed embodiments described herein need not be performed in any particular order. Furthermore, although elements of the disclosed embodiments of the invention may be described or claimed in the singular, the plural is contemplated unless limitation to the singular is explicitly stated.

It should be understood that, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly supports the exception. It should also be understood that "and/or" as used herein is meant to include any and all possible combinations of one or more of the associated listed items.

The numbers of the embodiments disclosed in the embodiments of the present invention are merely for description, and do not represent the merits of the embodiments.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, of embodiments of the invention is limited to these examples; within the idea of an embodiment of the invention, also technical features in the above embodiment or in different embodiments may be combined and there are many other variations of the different aspects of the embodiments of the invention as described above, which are not provided in detail for the sake of brevity. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of the embodiments of the present invention are intended to be included within the scope of the embodiments of the present invention.