CN110151413A - A kind of solar energy mechanical arm type intelligent wheel chair - Google Patents
A kind of solar energy mechanical arm type intelligent wheel chair Download PDFInfo
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- CN110151413A CN110151413A CN201910452563.7A CN201910452563A CN110151413A CN 110151413 A CN110151413 A CN 110151413A CN 201910452563 A CN201910452563 A CN 201910452563A CN 110151413 A CN110151413 A CN 110151413A
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- Prior art keywords
- mechanical arm
- sixdegree
- solar energy
- type intelligent
- arm type
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1094—Tables, working plates or trays
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/18—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering by patient's head, eyes, facial muscles or voice
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/20—Displays or monitors
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of solar energy mechanical arm type intelligent wheel chairs, including wheelchair body, sixdegree-of-freedom simulation, binocular vision unit, voice recognition unit, control unit and power supply, in which: wheelchair body has the chair back, seat and two handrails；Sixdegree-of-freedom simulation is connected to the end of a handrail, and the sixdegree-of-freedom simulation has dismountable manipulator；There are two the cameras for being set to wheelchair body two sides for binocular vision unit tool；Voice recognition unit has the microphone being set in wheelchair body；Control unit is electrically connected with sixdegree-of-freedom simulation, binocular vision unit and voice recognition unit respectively；Power supply is set to the back of the chair back, is used for supply of electrical energy.Compared with prior art, the present invention can help old man and disabled person that can preferably live, while using solar power generation energy-saving environmental protection, low-power consumption, high-performance.
Description
Technical field
The present invention relates to a kind of wheelchairs, more particularly, to a kind of solar energy mechanical arm type intelligent wheel chair.
Background technique
With being continuously increased for elderly and the disabled's quantity, wheelchair has obtained extensive blueness as trip walking-replacing tool
It looks at, but common wheelchair or hand-cranked wheel chair need user oneself to go to shake swing handle or people needed to go to push away, such wheel
It is laborious that chair takes people, brings great inconvenience to user, exists simultaneously the problems such as reliability is low, and comfort is poor.And current city
Electric wheelchair intelligence on field is low, and generally by lithium electric drive, needs to charge repeatedly, encounters electricity not when user is outgoing
Sufficient situation is then very inconvenient.Therefore a kind of safe and convenient, intelligent solar energy mechanical arm type intelligent wheel chair just seems especially heavy
It wants, is operated by mechanical arm instead of manpower, to improve the intelligence of wheelchair, solar recharging system more can for the interaction of multisensor
Cruising ability, and economical environment-protective are effectively increased, the trip requirements of the elderly and the disabled are admirably met.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of realization safety, just
The solar energy mechanical arm type intelligent wheel chair of benefit, the trip requirements for meeting the elderly and the disabled of intelligence.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of solar energy mechanical arm type intelligent wheel chair, comprising:
Wheelchair body has the chair back, seat and two handrails,
Sixdegree-of-freedom simulation is connected to the end of a handrail, and the sixdegree-of-freedom simulation has dismountable behaviour
Make hand,
Binocular vision unit has there are two the camera for being set to wheelchair body two sides,
Voice recognition unit has the microphone being set in wheelchair body,
Control unit is electrically connected with sixdegree-of-freedom simulation, binocular vision unit and voice recognition unit respectively,
Power supply is set to the back of the chair back, is used for supply of electrical energy.
Preferably, the manipulator of sixdegree-of-freedom simulation includes two finger-type manipulators or apery hand.
Preferably, two cameras of binocular vision unit are located at both ends at the top of the chair back, for obtaining object dimensional
Geological information.
Preferably, control unit includes controller and the device for embedded control that connects with controller, the control
Device is arranged in the control cabinet below seat, and the device for embedded control is located on another handrail, including voice
Input button and gesture screen, the voice input button are used to open the password controls of voice recognition unit, password controls
Advance, steering and the stopping of crawl and wheelchair including sixdegree-of-freedom simulation, the gesture screen is for manually controlling
Advance, steering and the stopping of wheelchair.
Preferably, the microphone of voice recognition unit is located at the handrail side that wheelchair body is equipped with device for embedded control,
For obtaining password.
Preferably, the power supply includes battery and photovoltaic module, and the photovoltaic module includes solar panel
And Miniature inverter, the solar panel is located on the trailing flank of power supply, and surface tilts upward.
Preferably, the wheelchair body further includes vehicle frame and the front-wheel being set on vehicle frame, rear-wheel, pedal and pushes away
Hand, the chair back, seat and two handrails are set on vehicle frame.
Preferably, the front-wheel passes sequentially through front-wheel horizontal rotating shaft and front-wheel vertical rotation axis is set on vehicle frame.
Compared with prior art, the invention has the following advantages:
1, the present invention is practical, and each functional component position is reasonable, and intelligence is high and safety coefficient is big, can more pacify
Entirely, comfortably, fully meet the elderly and disabled Man's Demands and improve self-care ability, not needing others' service can complete
This or that in trip and life, it is laborsaving to save people.
2, six degree of freedom (light-type) mechanical arm is added in the present invention, and the manipulator motion flexibility is good, and end effector hand can
Up to space density height, and the binocular stereo vision being made up of two cameras, acquisition object dimensional geological information are more accurate
Ground positions the position of object, is greatly improved the success rate of mechanical arm crawl.The elderly and disabled person can using mechanical arm come
The operation such as crawl teacup or clamping newspaper books is completed instead of manpower.
3, the present invention has intelligent management system, and user can pass through the voice in embeddedly operation interface
Password controls or the advance, steering and stopping that wheelchair is controlled by gesture screen control, the movement of mechanical arm execute
(steering engine) can also be controlled by speech recognition.Such intelligence management system substantially increases practicability, helps old
The raising of year people and disabled living quality of patients.
4, solar power generation, which is added, in the present invention reduces operating cost, and the long service life of electrification component, power generation side
Formula is more flexible, and user can voluntarily select to provide power resources using solar power generation or using battery；Solar energy hair
Electricity has the significant energy, environment benefits and economic gains, is one of top quality green energy resource, it has also become countries in the world common concern
Technology and the industry given priority to, this product the environmental protection of this generation mode is added, improves the Stability and dependability of power supply, improves
The service life of product.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the schematic diagram of device for embedded control of the invention；
Fig. 3 is the schematic diagram of power supply of the invention.
In figure, 1 is pushing hands, and 2 be right camera, and 3 be left camera, and 4 be microphone, and 5 be power supply, and 6 be embedded Control
Device, 7 be rear-wheel, and 8 be control cabinet, and 9 be front-wheel vertical rotation axis, and 10 be front-wheel horizontal rotating shaft, and 11 be front-wheel, and 12 be pedal, 13
It is manipulator for sixdegree-of-freedom simulation, 14,15 be voice input button, and 16 be gesture screen, and 17 be battery, and 18 be photovoltaic
Component, 19 be vehicle frame, and 20 be the chair back, and 21 be seat, and 22 be right handrail, and 23 be left handrail.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
A kind of solar energy mechanical arm type intelligent wheel chair, as shown in Figures 1 to 3, including wheelchair body, sixdegree-of-freedom simulation,
Binocular vision unit, voice recognition unit, control unit and power supply.
Wheelchair body includes vehicle frame 19 and the front-wheel being set on vehicle frame 19 11, rear-wheel 7, pedal 12, pushing hands 1, the chair back
20, seat 21, right handrail 22 and left handrail 23, wherein front-wheel 11 passes sequentially through front-wheel horizontal rotating shaft 10 and front-wheel vertical rotation axis 9
It is set on vehicle frame 19.
Sixdegree-of-freedom simulation 13 is connected to the end of left handrail 23, and the sixdegree-of-freedom simulation 13 has removably
Manipulator 14, and the manipulator 14 of sixdegree-of-freedom simulation 13 can choose two finger-type manipulators or apery hand.
Binocular vision unit tool is there are two being set to the cameras of wheelchair body two sides, in the present embodiment, binocular vision list
Two cameras (right camera 2 and left camera 3) of member are located at 20 top both ends of the chair back, several for obtaining object dimensional
What information.
Voice recognition unit, has the microphone 4 being set in wheelchair body, and the microphone 4 of voice recognition unit is located at
22 side of right handrail, for obtaining password.
Control unit is electrically connected with sixdegree-of-freedom simulation, binocular vision unit and voice recognition unit, this reality respectively
Applying control unit in example includes controller and the device for embedded control connected with controller 6, and controller is arranged in chair
In the control cabinet 8 of 21 lower section of seat, device for embedded control 6 is located in right handrail 22, including voice input button 15 and gesture screen
Curtain 16, as shown in Fig. 2, voice input button 15 is used to open the password controls of voice recognition unit, password controls include six from
By the crawl of degree mechanical arm 13 and advance, steering and the stopping of wheelchair, gesture screen 16 be used for manually control wheelchair advance,
It turns to and stops.
Power supply is set to the back of the chair back, is used for supply of electrical energy.Power supply includes battery 17 and photovoltaic group in the present embodiment
Part 18, photovoltaic module 18 include solar panel and Miniature inverter, and solar panel is located on the trailing flank of power supply, and
Surface tilts upward, as shown in Figure 3.
The operation principle of the present invention is that:
13 end of sixdegree-of-freedom simulation is dismountable manipulator 14, generally light-duty mechanical arm, and freedom degree is high, weight
Gently, it is installed at wheelchair left armrests, is supported by vehicle frame 19, realized to the crawl of object and the tasks such as put down.Six degree of freedom machine
The control of tool arm 13 presses voice input button 15 by voice control, user, and the password said is right by the input wheelchair
The microphone 4 of side is transferred to controller (controller can choose PLC or microcomputer), after controller receives input control signal,
The binocular vision unit that the right camera 2 and left camera 3 of wheelchair two sides are constituted as sixdegree-of-freedom simulation 13 eyes into
The analysis of row image is handled, and the position of precise positioning target object, subsequent controller starts the target of sixdegree-of-freedom simulation 13
Space tracking planning application, the end effector hand 14 according to the path clustering sixdegree-of-freedom simulation 13 of planning is according to making after the completion
The password of user such as completes the crawl of object or puts down at the operation.
User can control the movement of wheelchair by the gesture screen 16 in operation device for embedded control 6.It uses
Person's horizontally slipping on gesture screen 16 is input to controller, and it is inverse that controller analyzes input signal control front-wheel vertical rotation axis 9
Hour hands rotate clockwise, and the direction of front-wheel 11 can change the direction of advance of wheelchair, the left back sliding distance of gesture screen 16
The size of length control 11 rotational angle of front-wheel；Similarly, user is input to controller in sliding back and forth for gesture screen 16, control
Device analysis input signal control front-wheel horizontal rotating shaft 10 processed is counterclockwise or rotates clockwise, to change the advance speed of wheelchair
Degree.User again may be by verbal instructions input or allow the third party to pass through pushing hands 1 to control the movement of wheelchair.To improve
Both feet can be placed on foot pedal 12 by comfort level, user, and rear-wheel 7, without control, the movement of front-wheel 11 will drive rear-wheel 7
Movement.
Power supply 5 of the invention is installed at the chair back 20, according to the company of the connection type of photovoltaic module 18 and battery 17
It connects using parallel charge-discharge road, is controlled by controller, user can voluntarily select power supply power supply mode, default priority
It selects solar powered.
The above-mentioned description to embodiment is for ease of ordinary skill in the art to understand and use the invention.It is ripe
The personnel for knowing art technology obviously easily can make various modifications to these embodiments, and general original described herein
It ought to use in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, this field
Technical staff's announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be in guarantors of the invention
Within the scope of shield.
Claims (8)
1. a kind of solar energy mechanical arm type intelligent wheel chair characterized by comprising
Wheelchair body has the chair back, seat and two handrails,
Sixdegree-of-freedom simulation is connected to the end of a handrail, and the sixdegree-of-freedom simulation has dismountable manipulator,
Binocular vision unit has there are two the camera for being set to wheelchair body two sides,
Voice recognition unit has the microphone being set in wheelchair body,
Control unit is electrically connected with sixdegree-of-freedom simulation, binocular vision unit and voice recognition unit respectively,
Power supply is set to the back of the chair back, is used for supply of electrical energy.
2. a kind of solar energy mechanical arm type intelligent wheel chair according to claim 1, which is characterized in that sixdegree-of-freedom simulation
Manipulator include two finger-type manipulators or apery hand.
3. a kind of solar energy mechanical arm type intelligent wheel chair according to claim 1, which is characterized in that binocular vision unit
Two cameras are located at both ends at the top of the chair back, for obtaining object dimensional geological information.
4. a kind of solar energy mechanical arm type intelligent wheel chair according to claim 1, which is characterized in that control unit includes control
Device processed and the device for embedded control connected with controller, the controller are arranged in the control cabinet below seat
Interior, the device for embedded control is located on another handrail, including voice input button and gesture screen, the voice
Input button is used to open the password controls of voice recognition unit, and password controls includes crawl and the wheel of sixdegree-of-freedom simulation
Advance, steering and the stopping of chair, the gesture screen are used to manually control the advance, steering and stopping of wheelchair.
5. a kind of solar energy mechanical arm type intelligent wheel chair according to claim 4, which is characterized in that voice recognition unit
Microphone is located at the handrail side that wheelchair body is equipped with device for embedded control, for obtaining password.
6. a kind of solar energy mechanical arm type intelligent wheel chair according to claim 1, which is characterized in that the power supply includes
Battery and photovoltaic module, the photovoltaic module include solar panel and Miniature inverter, the solar battery
Plate is located on the trailing flank of power supply, and surface tilts upward.
7. a kind of solar energy mechanical arm type intelligent wheel chair according to claim 1, which is characterized in that the wheelchair body
It further include vehicle frame and the front-wheel being set on vehicle frame, rear-wheel, pedal and pushing hands, the chair back, seat and two handrails are set
It is placed on vehicle frame.
8. a kind of solar energy mechanical arm type intelligent wheel chair according to claim 7, which is characterized in that the front-wheel is successively
It is set on vehicle frame by front-wheel horizontal rotating shaft and front-wheel vertical rotation axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910452563.7A CN110151413A (en) | 2019-05-28 | 2019-05-28 | A kind of solar energy mechanical arm type intelligent wheel chair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910452563.7A CN110151413A (en) | 2019-05-28 | 2019-05-28 | A kind of solar energy mechanical arm type intelligent wheel chair |
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| Publication Number | Publication Date |
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| CN110151413A true CN110151413A (en) | 2019-08-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910452563.7A Pending CN110151413A (en) | 2019-05-28 | 2019-05-28 | A kind of solar energy mechanical arm type intelligent wheel chair |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111714299A (en) * | 2020-06-22 | 2020-09-29 | 西安交通大学医学院第一附属医院 | Intelligent old-people assisting chair and using method thereof |
| CN112025670A (en) * | 2020-07-29 | 2020-12-04 | 义乌工商职业技术学院 | Multi-joint wheelchair mechanical arm for helping the old and the disabled |
| US11534351B1 (en) * | 2019-12-11 | 2022-12-27 | Juvenal Suarez | Wheelchair comprising a mechanical arm for assisting a user |
| CN116077283A (en) * | 2022-10-11 | 2023-05-09 | 大连理工大学 | Self-balancing wheelchair with mechanical arm |
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Cited By (4)
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| CN116077283A (en) * | 2022-10-11 | 2023-05-09 | 大连理工大学 | Self-balancing wheelchair with mechanical arm |
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Application publication date: 20190823 |
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