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US 11,231,711 B2Granted
Systems and methods for surrounding information acquisition and feedback for intelligent wheelchairs
AssigneeSichuan Golden Ridge Intelligence Science & Technology Co., Ltd.
InventorsJiaxin Li, Yin Jiao, Li Yan, Dong Dong, Yifeng Huang, Weirong Liu
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Abstract
The present disclosure discloses the surrounding information collection, feedback system and method of the intelligent wheelchair. The system includes a processor, a movement module, and a holder, and the processor is configured to perform operations of receiving information, constructing a map, planning a route, and generating control parameters. The movement module executes the control parameters to move around and includes one or more sensors to detect the information. The holder includes one or more sensors to sense the information.
Claims14
A system, comprising:
- a movement module including a wheel, a carrier, and a first-type sensor, the first-type sensor configured to collect surrounding information;
- a holder including a second-type sensor;
- and
- a processor including an analysis module, a navigation module, and a control module, wherein
- the processor is configured to:
- communicate with the holder and the movement module, respectively;
- obtain information from one or more of the first-type sensor and the second-type sensor, respectively, the information including image data, the image data including a plurality of video frames;
- determine a destination and a location of the system;
- build a map based on the information;
- plan a route for the system based on the map;
- determine control parameters for the system based on the route and the information;
- and
- control a movement and an attitude of the system based on the control parameters, including:
- determine, for each of the plurality of video frames, an angle between a horizontal plane and a Z-axis of the system associated with the each video frame, including:
- obtain accelerometer data associated with a reference frame related to the each video frame;
- obtain gyroscope data associated with the each video frame;
- determine, based on the accelerometer data, a reference angle of the reference frame between the horizontal plane and the Z-axis of the system, and angular information associated with the reference frame;
- determine compensatory angular information based on the reference angle and the angular information associated with the reference frame;
- and
- determine, based on the compensatory angular information and the gyroscope data associated with the each video frame, the angle between the horizontal plane and the Z-axis of the system associated with the each video frame;
- determine whether the angle exceeds a threshold;
- and
- in response to determining that the angle exceeds the threshold, generate a balanced control signal.
20 more elements
A method, comprising:
- establishing communication between a processor and a holder, and between a processor and a movement module;
- obtaining information from one or more of second-type sensor of the holder and first-type sensor of the movement module by the processor, respectively, the information including image data, the image data including a plurality of video frames;
- determining a destination and a location of an intelligent robot by the processor;
- obtaining, by the processor, a map based on the information;
- determining, by the processor, a route from the location to the destination of the intelligent robot based on the map;
- determining control parameters of the movement module and the holder based on the route and the information;
- controlling a movement and an attitude of the intelligent robot based on the control parameters, including:
- determine, for each of the plurality of video frames, an angle between a horizontal plane and a Z-axis of the system associated with the each video frame, including:
- obtaining accelerometer data associated with a reference frame related to the each video frame;
- obtaining gyroscope data associated with the each video frame;
- determining, based on the accelerometer data, a reference angle of the reference frame between the horizontal plane and the Z-axis of the system, and angular information associated with the reference frame;
- determining compensatory angular information based on the reference angle and the angular information associated with the reference frame;
- and
- determining, based on the compensatory angular information and the gyroscope data associated with the each video frame, the angle between the horizontal plane and the Z-axis of the system associated with the each video frame;
- determine whether the angle exceeds a threshold;
- and
- in response to determining that the angle exceeds the threshold, generate a balanced control signal.
14 more elements
Dependencies are inferred from the claim text.