阅读说明：本技术 一种轮椅控制方法及系统 (Wheelchair control method and system ) 是由 李家鑫 刘伟荣 焦寅 闫励 于 2018-10-08 设计创作，主要内容包括：一种轮椅控制方法及系统。方法包括：确定目标对象；目标对象位于轮椅所处空间中；通过位于轮椅上的至少一个传感器,获取轮椅所处空间的环境信息；基于环境信息,确定目标对象与轮椅的相对位置关系；以及基于相对位置关系控制轮椅在空间中移动以使得轮椅靠近目标对象；其中移动至少包括以下中的至少一种：旋转一定角度、前进或后退。(A wheelchair control method and system. The method comprises the following steps: determining a target object; the target object is positioned in the space where the wheelchair is positioned; acquiring environmental information of a space where the wheelchair is located through at least one sensor positioned on the wheelchair; determining a relative position relationship between the target object and the wheelchair based on the environmental information; and controlling the wheelchair to move in the space based on the relative positional relationship so that the wheelchair approaches the target object; wherein the movement comprises at least one of: rotating a certain angle, advancing or retreating.)

A method of wheelchair control, the method comprising:

determining a target object; the target object is located in a space where the wheelchair is located;

acquiring environmental information of a space where the wheelchair is located through at least one sensor positioned on the wheelchair;

determining a relative positional relationship of the target object and the wheelchair based on the environmental information; and

controlling the wheelchair to move in the space based on the relative positional relationship such that the wheelchair approaches the target object; wherein the movement comprises at least one of: rotating a certain angle, advancing or retreating.

The method of claim 1, wherein obtaining environmental information about a space in which a wheelchair is located via at least one sensor located on the wheelchair further comprises:

acquiring contour data of at least a portion of the space via at least one echo-detecting sensor located on the wheelchair; alternatively, the first and second electrodes may be,

image data of at least a portion of the space is acquired by an image acquisition device located on the wheelchair.

The method of claim 2, wherein the echo detection sensor comprises at least one of: radar or ultrasonic sensors.

The method of claim 2, wherein obtaining environmental information about a space in which the wheelchair is located via at least one sensor located on the wheelchair further comprises:

acquiring contour data of at least a portion of the space via at least one echo-detecting sensor located on the wheelchair;

judging whether the contour data of at least one part of the space contains the contour data of the target object;

and if not, controlling the wheelchair to rotate for a certain angle, and then acquiring the contour data of at least one part of the space through at least one echo detection type sensor on the wheelchair until the acquired contour data of at least one part of the space contains the contour data of the target object.

The method of claim 4, wherein determining the relative positional relationship of the target object to the wheelchair based on the environmental information further comprises:

determining a position of the contour data of the target object in the contour data of at least a portion of the space;

determining a position and/or distance of the target object relative to the wheelchair based on the location and the location of the echographic sensor on the wheelchair.

The method of claim 2, wherein obtaining environmental information about a space in which the wheelchair is located via at least one sensor located on the wheelchair further comprises:

acquiring image data of at least one part of the space through an image acquisition device positioned on the wheelchair;

judging whether the image data of the target object is contained in at least one part of the image data in the space;

and if not, controlling the wheelchair to rotate by a certain angle, and then acquiring the image data of at least one part of the space through the image acquisition device on the wheelchair until the acquired image data of at least one part of the space contains the image data of the target object.

The method of claim 6, wherein determining the relative positional relationship of the target object to the wheelchair based on the environmental information further comprises:

determining a position of the image data of the target object in the image data of at least a portion of the space;

determining a position and/or distance of the target object relative to the wheelchair based on the location and the location of the image acquisition device on the wheelchair.

The method of claim 5 or 7, wherein controlling the wheelchair to move in the space based on the relative positional relationship such that the wheelchair approaches the target object further comprises:

controlling the wheelchair to rotate by a certain angle based on the orientation, so that the position of the wheelchair is directed towards the target object; and/or the presence of a gas in the gas,

and controlling the wheelchair to advance or retreat for a certain distance along the right front of the wheelchair based on the distance so that the wheelchair is close to the target object.

The method of claim 1, wherein the wheelchair comprises a processor and a telescoping rotating device; the telescopic rotating device comprises a supporting shaft, a base, a telescopic power device and a rotating power device; the telescopic power device and the rotary power device are in signal connection with the processor; the supporting shaft is directly or indirectly arranged on the base in a manner of being capable of extending and retracting and rotating relative to the base; the base is fixedly arranged on a base plate of the wheelchair seat; the support shaft is vertical to the seat bottom plate and faces the lower part of the wheelchair; the telescopic power device and the rotary power device are in transmission connection with the supporting shaft;

controlling the wheelchair to rotate a certain angle comprises:

controlling the telescopic power device to enable the base to extend relative to the supporting shaft, and further jacking the wheelchair to be away from the ground;

controlling the rotary power device to enable the base to rotate a certain angle relative to the support shaft, and further driving the wheelchair to rotate the certain angle;

and controlling the telescopic power device to shorten the base relative to the supporting shaft, and then putting the wheelchair back to the ground.

The method of claim 1, wherein the wheelchair includes two front wheels and two rear wheels; the two front wheels are universal wheels, the two rear wheels are respectively driven by a motor, and the motors are in signal connection with the processor;

controlling the wheelchair to rotate a certain angle comprises:

and controlling the motors of the two rear wheels to reversely rotate a certain angle relative to each other, and further driving the wheelchair to rotate the angle.

A wheelchair control system, comprising:

at least one storage medium comprising a set of instruction sets for controlling wheelchair movement;

at least one processor in communication with the at least one storage medium, wherein the at least one processor, when executing the set of instructions, is configured to:

determining a target object; the target object is located in a space where the wheelchair is located;

acquiring environmental information of a space where the wheelchair is located through at least one sensor positioned on the wheelchair;

determining a relative positional relationship of the target object and the wheelchair based on the environmental information; and

controlling the wheelchair to move in the space based on the relative positional relationship so that the wheelchair approaches the target object; wherein the movement comprises at least one of: rotating a certain angle, advancing or retreating.

The system of claim 11, wherein to obtain environmental information of a space in which the wheelchair is located via at least one sensor located on the wheelchair, the at least one processor is configured to:

acquiring contour data of at least a portion of the space via at least one echo-detecting sensor located on the wheelchair; alternatively, the first and second electrodes may be,

image data of at least a portion of the space is acquired by an image acquisition device located on the wheelchair.

The system of claim 12, wherein the echo detection sensor comprises at least one of: radar or ultrasonic sensors.

The system of claim 12, wherein to obtain environmental information about a space in which the wheelchair is located via at least one sensor located on the wheelchair, the at least one processor is further configured to:

acquiring contour data of at least a portion of the space via at least one echo-detecting sensor located on the wheelchair;

judging whether the contour data of at least one part of the space contains the contour data of the target object;

and if not, controlling the wheelchair to rotate for a certain angle, and then acquiring the contour data of at least one part of the space through at least one echo detection type sensor on the wheelchair until the acquired contour data of at least one part of the space contains the contour data of the target object.

The system of claim 14, wherein to determine a relative positional relationship of the target object to the wheelchair based on the environmental information, the at least one processor is configured to:

determining a position of the contour data of the target object in the contour data of at least a portion of the space;

determining a position and/or distance of the target object relative to the wheelchair based on the location and the location of the echographic sensor on the wheelchair.

The system of claim 12, wherein to obtain environmental information about a space in which the wheelchair is located via at least one sensor located on the wheelchair, the at least one processor is configured to:

acquiring image data of at least one part of the space through an image acquisition device positioned on the wheelchair;

judging whether the image data of the target object is contained in at least one part of the image data in the space;

and if not, controlling the wheelchair to rotate by a certain angle, and then acquiring the image data of at least one part of the space through the image acquisition device on the wheelchair until the acquired image data of at least one part of the space contains the image data of the target object.

The system of claim 16, wherein to determine a relative positional relationship of the target object to the wheelchair based on the environmental information, the at least one processor is configured to:

determining a position of the image data of the target object in the image data of at least a portion of the space;

determining a position and/or distance of the target object relative to the wheelchair based on the location and the location of the image acquisition device on the wheelchair.

The system of claim 15 or 17, wherein to control movement of the wheelchair in the space to bring the wheelchair into proximity with the target object based on the relative positional relationship, the at least one processor is configured to:

controlling the wheelchair to rotate by a certain angle based on the orientation, so that the position of the wheelchair is directed towards the target object; and/or the presence of a gas in the gas,

and controlling the wheelchair to advance or retreat for a certain distance along the right front of the wheelchair based on the distance so that the wheelchair is close to the target object.

The system of claim 11, wherein the wheelchair comprises a processor and a telescoping rotation device; the telescopic rotating device comprises a supporting shaft, a base, a telescopic power device and a rotating power device; the telescopic power device and the rotary power device are in signal connection with the processor; the supporting shaft is directly or indirectly arranged on the base in a manner of being capable of extending and retracting and rotating relative to the base; the base is fixedly arranged on a base plate of the wheelchair seat; the support shaft is vertical to the seat bottom plate and faces the lower part of the wheelchair; the telescopic power device and the rotary power device are in transmission connection with the supporting shaft;

to control the wheelchair to rotate through an angle, the processor is further configured to:

controlling the telescopic power device to enable the base to extend relative to the supporting shaft, and further jacking the wheelchair to be away from the ground;

controlling the rotary power device to enable the base to rotate a certain angle relative to the support shaft, and further driving the wheelchair to rotate the certain angle;

and controlling the telescopic power device to shorten the base relative to the supporting shaft, and then putting the wheelchair back to the ground.

The system of claim 11, wherein the wheelchair comprises two front wheels and two rear wheels; the two front wheels are universal wheels, the two rear wheels are respectively driven by a motor, and the motors are in signal connection with the processor;

to control the wheelchair to rotate through an angle, the processor is further configured to:

and controlling the motors of the two rear wheels to reversely rotate a certain angle relative to each other, and further driving the wheelchair to rotate the angle.

A wheelchair control system, comprising:

a target determination module for determining a target object; the target object is located in a space where the wheelchair is located;

the environment information acquisition module is used for acquiring the environment information of the space where the wheelchair is located through at least one sensor positioned on the wheelchair;

the analysis module is used for determining the relative position relation between the target object and the wheelchair based on the environmental information; and

a mechanical control module for controlling the wheelchair to move in the space based on the relative positional relationship so that the wheelchair approaches the target object; wherein the movement comprises at least one of: rotating a certain angle, advancing or retreating.

The system of claim 21, wherein the environmental information collection module is further configured to:

acquiring contour data of at least a portion of the space via at least one echo-detecting sensor located on the wheelchair; alternatively, the first and second electrodes may be,

image data of at least a portion of the space is acquired by an image acquisition device located on the wheelchair.

The system of claim 22, wherein the echo detection sensor comprises at least one of: radar or ultrasonic sensors.

The system of claim 22, wherein the environmental information collection module is further configured to:

acquiring contour data of at least a portion of the space via at least one echo-detecting sensor located on the wheelchair;

judging whether the contour data of at least one part of the space contains the contour data of the target object;

and if not, controlling the wheelchair to rotate for a certain angle, and then acquiring the contour data of at least one part of the space through at least one echo detection type sensor on the wheelchair until the acquired contour data of at least one part of the space contains the contour data of the target object.

The system of claim 24, wherein the analysis module is further configured to:

determining a position of the contour data of the target object in the contour data of at least a portion of the space;

determining a position and/or distance of the target object relative to the wheelchair based on the location and the location of the echographic sensor on the wheelchair.

The system of claim 22, wherein the environmental information collection module is further configured to:

acquiring image data of at least one part of the space through an image acquisition device positioned on the wheelchair;

judging whether the image data of the target object is contained in at least one part of the image data in the space;

and if not, controlling the wheelchair to rotate by a certain angle, and then acquiring the image data of at least one part of the space through the image acquisition device on the wheelchair until the acquired image data of at least one part of the space contains the image data of the target object.

The system of claim 26, wherein the environment analysis module is further configured to:

determining a position of the image data of the target object in the image data of at least a portion of the space;

determining a position and/or distance of the target object relative to the wheelchair based on the location and the location of the image acquisition device on the wheelchair.

The system of claim 25 or 27, wherein the machine control module is further configured to:

controlling the wheelchair to rotate by a certain angle based on the orientation, so that the position of the wheelchair is directed towards the target object; and/or the presence of a gas in the gas,

and controlling the wheelchair to advance or retreat for a certain distance along the right front of the wheelchair based on the distance so that the wheelchair is close to the target object.

The system of claim 21, wherein the wheelchair comprises a processor and a telescoping rotation device; the telescopic rotating device comprises a supporting shaft, a base, a telescopic power device and a rotating power device; the telescopic power device and the rotary power device are in signal connection with the processor; the supporting shaft is directly or indirectly arranged on the base in a manner of being capable of extending and retracting and rotating relative to the base; the base is fixedly arranged on a base plate of the wheelchair seat; the support shaft is vertical to the seat bottom plate and faces the lower part of the wheelchair; the telescopic power device and the rotary power device are in transmission connection with the supporting shaft;

the machine control module is further configured to:

controlling the telescopic power device to enable the base to extend relative to the supporting shaft, and further jacking the wheelchair to be away from the ground;

controlling the rotary power device to enable the base to rotate a certain angle relative to the support shaft, and further driving the wheelchair to rotate the certain angle;

and controlling the telescopic power device to shorten the base relative to the supporting shaft, and then putting the wheelchair back to the ground.

The system of claim 21, wherein the wheelchair comprises two front wheels and two rear wheels; the two front wheels are universal wheels, the two rear wheels are respectively driven by a motor, and the motors are in signal connection with the processor;

the machine control module is further configured to:

and controlling the motors of the two rear wheels to reversely rotate a certain angle relative to each other, and further driving the wheelchair to rotate the angle.

A computer-readable storage medium storing computer instructions which, when executed by a processor, implement the method of claims 1-10.

A wheelchair is characterized by comprising a processor and a telescopic rotating device;

the telescopic rotating device comprises a supporting shaft, a base, a telescopic power device and a rotating power device;

the telescopic power device and the rotary power device are in signal connection with the processor;

the supporting shaft is directly or indirectly arranged on the base in a manner of being capable of extending and retracting and rotating relative to the base;

the base is fixedly arranged on a base plate of the wheelchair seat; the support shaft is vertical to the seat bottom plate and faces the lower part of the wheelchair;

the telescopic power device and the rotary power device are in transmission connection with the supporting shaft.

The wheelchair of claim 32 wherein the power means is a cylinder or a ram.

The wheelchair of claim 32 wherein the rotary power unit is an electric motor.