CN120710817A - A mounted intelligent handrail and control method thereof - Google Patents

Abstract

The present invention relates to the technical field of intelligent auxiliary equipment, and specifically to a mountable intelligent handrail and a control method thereof, comprising an armrest body, a mounting structure, an armrest controller, an obstacle detection unit, a voice interaction unit and an Internet of Things control unit, wherein the mounting structure mounts the armrest body on the auxiliary equipment; the armrest controller is arranged on the armrest body; the obstacle detection unit is used to detect surrounding obstacles; the voice interaction unit is used to receive the user's voice instructions; the Internet of Things control unit is used to control at least one household appliance based on the voice instructions; the present invention can be conveniently installed on existing auxiliary equipment such as wheelchairs and walkers through the mounting structure; thereby achieving accurate perception and early warning of obstacles in the surrounding environment, and being able to recognize the user's voice instructions, and control the smart home appliances and traditional household appliances respectively through the Internet of Things control unit.

Description

Installation type intelligent handrail and control method thereof

Technical Field

The invention relates to the technical field of intelligent auxiliary equipment, in particular to an installed intelligent handrail and a control method thereof.

Background

With the change of social population structure, auxiliary equipment for the elderly and people with mobility impairment, such as wheelchairs, walkers, nursing seats, toilet handrails and the like, play an increasingly important role in daily life. The core functions of these conventional auxiliary devices are mainly focused on providing physical support, enhancing mobility stability, or assisting the user in performing specific actions (e.g., sitting down, standing up), and the armrest portion is usually a purely mechanical structure with a relatively single function.

Meanwhile, intelligent home technology has also been developed. Users can remotely or speech control various devices such as lighting, curtains, televisions, air conditioners and the like in a home through a smart phone Application (APP), a special remote control panel or a voice assistant such as a smart speaker.

However, in the prior art, the auxiliary device and the smart home control system are generally two independent systems. For users who are using auxiliary devices such as wheelchairs, walkers or toilet armrests, they are physically in the auxiliary environment, but devices for controlling the home environment (e.g. cell phones, remote controls) are often not integrated with their auxiliary devices. When these smart home needs to be controlled, the user may need to perform additional movement, search for or grasp the corresponding control device, which reduces the convenience of life to some extent, and may even bring about potential safety hazards, contrary to the original purpose of using the auxiliary device.

Meanwhile, the operation of the existing intelligent equipment is complex, the actual demands of the old and the mobility-impaired are difficult to meet, and the old only needs to have a handrail at the hand. Therefore, an artificial intelligent handrail compatible with main home equipment and providing an internet of things control system and a control method thereof are needed to improve the safety and convenience of life.

Disclosure of Invention

The invention aims to provide an installation type intelligent handrail and a control method thereof, which are used for realizing convenient and efficient control of household equipment and detection of obstacles, improving the intelligent level and user experience of household life, reducing the system cost and improving the compatibility and expansibility of equipment.

The invention is realized by the following technical scheme:

A mounted intelligent handrail, comprising:

A handrail body;

a mounting structure for mounting the armrest body to an auxiliary device;

a handrail controller disposed on the handrail body;

An obstacle detection unit mounted on the armrest body and electrically connected to the armrest controller for detecting surrounding obstacles;

the voice interaction unit is electrically connected with the armrest controller and is used for receiving a voice instruction of a user and outputting a voice alarm according to the detection result of the obstacle detection unit;

and the Internet of things control unit is electrically connected with the armrest controller and is used for controlling at least one household device based on the voice instruction.

Optionally, the armrest body includes:

A rear beam;

The rear end of the side branch handrail is rotationally connected with the rear beam through a rear Liang Taiqi shaft, the side branch handrail is detachably connected with auxiliary equipment through a mounting structure, and the handrail controller is rotationally connected with the front end of the side branch handrail through a controller lifting shaft.

Optionally, the rotation axis of the back beam lifting shaft is perpendicular to the extending direction of the side branch handrail, and the rotation axis of the controller lifting shaft is parallel to the extending direction of the side branch handrail.

Optionally, the mounting structure is at least one fixing buckle, the fixing buckle is arranged on the fixing buckle on the lower side surface of the side branch handrail, and the fixing buckle is detachably clamped with the original handrail of the auxiliary equipment;

and the side branch handrail rotates around the rear Liang Taiqi shaft, so that the fixing buckle is separated from the original handrail.

Optionally, the handrail controller includes the casing, set up in standing groove in the casing and set up in the central controller of standing groove, obstacle detecting element the voice interaction unit with thing networking control unit all with the central controller electricity is connected.

Optionally, the obstacle detecting unit includes:

at least one ultrasonic radar provided at a rear portion of the armrest body and configured to detect a rear obstacle;

at least two infrared sensors disposed at both sides of the armrest body and used for detecting obstacles at a lateral close distance;

The voice interaction unit includes:

A sound pickup for collecting a voice instruction of the user;

the voice recognition module is connected with the pickup and the central controller and is used for recognizing the voice instruction;

a speaker connected to the central controller for outputting a voice alarm;

The pickup, the voice recognition module and the loudspeaker are all arranged in the placing groove;

the control unit of the Internet of things comprises:

The direct control module is used for sending a control instruction to the intelligent home equipment which originally supports a communication protocol, and completing direct control of the intelligent home equipment;

And the simulation control module is used for learning, storing and sending original remote control signals of the traditional household electrical equipment so as to simulate the original remote controller of the traditional household electrical equipment and complete indirect control of the traditional household electrical equipment.

A control method of an installed intelligent handrail, comprising an obstacle detection method, the method comprising:

acquiring original distance data of a rear obstacle through an ultrasonic radar arranged at the rear part of the handrail;

performing a filtering process on the original distance data to generate a stable distance value, the filtering process including filtering the original distance data falling outside a preset effective range and performing a first order low pass filtering on the original distance data within the effective range;

judging whether the stable distance value is smaller than a preset safety threshold value, and driving a loudspeaker to send out a rear obstacle voice alarm when the stable distance value is smaller than the preset safety threshold value;

Through the infrared sensor that sets up in the handrail both sides, detect whether there is side closely barrier, when infrared sensor is triggered and detects the barrier, the linkage the speaker sends the alarm.

Further, the control method further includes a voice control method, the method including:

continuously monitoring and identifying preset keywords in a user voice instruction through a voice identification module;

when the preset keywords are identified, the voice recognition module generates corresponding instruction codes and sends the instruction codes to a central controller through serial communication;

the central controller receives and analyzes the instruction codes and executes corresponding preset operations according to the types of the instruction codes;

The preset operation includes at least one of:

when the instruction code is a household control instruction, controlling the appointed intelligent household or the traditional household appliance;

when the instruction code is an obstacle detection instruction, starting an obstacle detection program;

when the instruction code is an emergency call instruction, an emergency alarm is sent to a preset monitoring terminal;

And playing corresponding voice feedback through a loudspeaker after the preset operation is executed.

Further, the control method further comprises a method for controlling the traditional household appliance, comprising a learning step and an executing step;

The learning step is used for acquiring and storing original remote control instructions of the traditional household appliance, and comprises the following steps:

Starting an infrared learning mode, and continuously monitoring infrared signals through an infrared receiving module;

When receiving an infrared signal sent by an original remote controller of the traditional household appliance, decoding the infrared signal to extract a remote control code and a communication protocol type of the infrared signal;

Associating and storing the remote control code with a specific control function;

the executing step is used for simulating and sending a remote control instruction according to a user instruction, and the executing step comprises the following steps:

receiving a user instruction corresponding to the specific control function;

retrieving from storage a remote control code associated with the user instruction;

And transmitting the retrieved remote control code through an infrared transmitting module according to a pre-stored communication protocol type so as to realize the control of the traditional household appliance.

Further, the control method also comprises a remote control and state synchronization method, comprising a remote control step and a state synchronization step;

The remote control step includes:

a control instruction for the intelligent household equipment is sent to a cloud service platform through a remote terminal;

the cloud service platform forwards the control instruction to a central controller of an intelligent handrail associated with the intelligent household equipment through a wireless network;

the central controller receives and executes the control instruction to control the intelligent household equipment;

the state synchronization step includes:

The central controller monitors state data of a sensor or the intelligent household equipment connected with the intelligent handrail in real time;

when the state data changes, the central controller reports the updated state data to the cloud service platform;

And the cloud service platform synchronizes the updated state data to the remote terminal for display.

Compared with the prior art, the invention has the following advantages and beneficial effects:

According to the invention, the armrest controller integrated with the central controller, the multimode sensor, the voice interaction module and the Internet of things control module is conveniently and additionally arranged on auxiliary equipment such as the existing wheelchair, the walker and the like through the installation structure, so that accurate sensing and early warning of surrounding environment obstacles are realized, voice instructions of users can be identified, and intelligent household equipment and traditional household equipment are respectively controlled through the Internet of things control unit.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the principles of the invention.

Fig. 1 is a schematic view of an installation of an installed intelligent handrail according to the present invention.

Fig. 2 is a schematic structural view of an installed intelligent handrail according to the present invention.

Fig. 3 is a schematic view of the structure of the armrest controller according to the present invention.

Fig. 4 is a communication frame diagram of a mounted intelligent handrail according to the present invention.

Reference numeral 1-auxiliary equipment, 2-rear beam lifting shaft, 3-rear beam, 4-rear support handrail, 5-mounting structure, 6-handrail body, 7-handrail controller, 8-controller lifting shaft, 9-ultrasonic radar, 10-central processing unit, 11-voice recognition module, 12-pickup, 13-placing groove, 14-loudspeaker, 15-infrared receiving module and 16-infrared transmitting module.

Detailed Description

The present invention will be described in further detail with reference to the drawings and embodiments, for the purpose of making the objects, technical solutions and advantages of the present invention more apparent. It is to be understood that the specific embodiments described herein are merely illustrative of the substances, and not restrictive of the invention.

It should be further noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, directly connected, indirectly connected via an intermediate medium, or in communication with each other between two elements or in an interaction relationship between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

Embodiments of the present invention and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Example 1

The present embodiments describe an infrastructure system architecture for a mounted intelligent handrail that integrates multiple intelligent functions on a handy-to-mount handrail platform. As shown in fig. 1 and 2, the installed intelligent handrail comprises a handrail body 6, an installation structure 5, a handrail controller 7, an obstacle detection unit, a voice interaction unit and an internet of things control unit.

The armrest body 6 is a main frame for carrying all functional modules, the mounting structure 5 is used for mounting the armrest body 6 on auxiliary equipment 1 (such as a common seat, a wheelchair, a toilet, a shifter or a walking aid, and the like), and the armrest controller 7 is arranged on the armrest body 6 to realize overall control of the intelligent armrest.

The obstacle detection unit is mounted on the armrest body 6 and electrically connected with the armrest controller 7 for detecting surrounding obstacles, and has the function of detecting whether physical obstacles exist around the armrest by using a sensor to provide environment sensing capability for the system.

The voice interaction unit is electrically connected with the armrest controller 7 and is used for receiving a voice instruction of a user and outputting a voice alarm according to the detection result of the obstacle detection unit, and the unit has the dual functions of firstly serving as input equipment for receiving the voice instruction of the user and secondly serving as output equipment for sending out an audio alarm according to the detection result of the obstacle.

The control unit of the Internet of things is electrically connected with the armrest controller 7 and is used for controlling at least one household device based on the voice command, and the control unit is responsible for controlling one or more household devices after receiving the command of the controller.

The cooperative operation of the above components forms two main functional closed loops:

and in the safety early warning process, the obstacle detection unit continuously senses the environment and sends the detected data to the armrest controller 7. After the controller analyzes and judges the data, if the potential danger is found, the controller instructs the voice interaction unit (serving as the loudspeaker 14) to send out a voice alarm to remind the user.

The device control flow is that a user sends an instruction (such as 'turning on a lamp') through a voice interaction unit (serving as a microphone). The instruction is received and parsed by the controller. Then, the controller instructs the control unit of the internet of things to execute corresponding operations, so that control over the appointed household equipment is realized.

Example two

The embodiment provides a specific mechanical structure of the armrest body 6 and a combination mode of the armrest body and the existing auxiliary equipment 1, and specifically comprises two aspects, namely a 'double-lifting structure' for providing maximum operation flexibility for users, and a 'snap-in type mounting structure 5' for realizing wide compatibility and mounting convenience.

The armrest body 6 includes a back beam 3 and side branch armrests.

The back beam 3 can connect two side branch armrests and can fix the back beam 3 with the original back branch armrests 4 of the auxiliary device 1, so that the whole armrest body 6 can be fixed on the auxiliary device 1.

The rear end of the at least one side branch handrail is rotationally connected with the rear beam 3 through the rear Liang Taiqi shaft 2, the side branch handrail is detachably connected with the auxiliary equipment 1 through the mounting structure 5, and the handrail controller 7 is rotationally connected with the front end of the side branch handrail through the controller lifting shaft 8.

The rotation axis of the rear Liang Taiqi shaft 2 is perpendicular to the extending direction of the side branch handrail, and the rotation axis of the controller lifting shaft 8 is parallel to the extending direction of the side branch handrail.

The installation structure 5 is at least one fixed buckle, the fixed buckle is arranged on the lower side of the side branch handrail and is detachably clamped with the original handrail of the auxiliary equipment 1, the fixed buckle is specially used for being detachably clamped with the original handrail of the existing auxiliary equipment 1 (such as a wheelchair and a seat) of a user, and the original equipment of the user does not need to be subjected to any large-scale structural transformation, so that the auxiliary equipment can be easily adapted to auxiliary appliances of various types and sizes, and the wide applicability and the installation convenience of the scheme are ensured.

The side branch handrail rotates around the rear Liang Taiqi shaft 2, so that the fixed buckle is separated from the original handrail. In addition, the fixing buckle also has the function of combining the action of lifting the handrail and the action of unlocking and separating. When the user turns the side branch armrest upwards (around the rear Liang Taiqi axis 2), this action naturally causes the fixed clasp to disengage from the original armrest of the auxiliary device 1, so that the user does not need to perform a separate "unbuckling" action, simply lifting the armrest and removing it.

The present embodiment has a double-axis and independently adjustable "double-lift" design for the armrest body 6, i.e. the rear end of the side branch armrest is rotatably connected with the rear beam 3 by a rear Liang Taiqi shaft 2, allowing the entire side branch armrest to be turned up by 0-180 degrees. The rotation axis of the lifting shaft is perpendicular to the extending direction of the side branch armrests, so that the armrests are lifted in an up-and-down swinging mode, and the main purpose is to facilitate users to get in and out of the seat or the wheelchair.

At the same time, the armrest controller 7 is rotatably connected to the front end of the side branch armrest via an independent controller lifting shaft 8. The rotation axis of the lifting shaft is parallel to the extending direction of the side branch handrail, so that the controller can independently perform angle adjustment. The design aims at enabling the user to adjust the armrest body 6 to a certain inclination angle, and the controller can be independently adjusted, so that the operation interface of the armrest body is always kept horizontal or at the most comfortable observation angle, and the flexibility and convenience in the use process are greatly improved.

Example III

The embodiment describes the internal structure of the armrest controller 7 and the specific implementation manner of each functional unit under the armrest controller, the overall architecture is built by taking a central controller as a command center as a core, the armrest controller 7 is provided with an external shell, and a placing groove 13 is arranged in the shell and is used for accommodating the central controller and other core modules. The obstacle detection unit, the voice interaction unit and the Internet of things control unit are electrically connected with the central controller, and unified scheduling and management are performed by the obstacle detection unit, the voice interaction unit and the Internet of things control unit.

As shown in fig. 3, the armrest controller 7 includes a housing, a placement groove 13 disposed in the housing, and a central controller disposed in the placement groove 13, and the obstacle detection unit, the voice interaction unit, and the internet of things control unit are all electrically connected with the central controller. The central controller adopts an ESP32 chip, the ESP32 originally supports a plurality of communication protocols, and the GPIO is used for processing simple switching value signals, for example, directly reading the pressing state of a physical key. USART is used for more complex serial data communication, for example, for transmitting and receiving instruction codes to and from an LD3320 voice module described later.

In order to realize comprehensive and three-dimensional environment perception, the obstacle detection unit adopts a multi-sensor fusion strategy, and comprises:

At least one ultrasonic radar 9 is arranged at the rear part of the armrest body 6 and is used for detecting the obstacle at the rear, the ultrasonic radar 9 is good at performing long-distance ranging, key safety guarantee is provided for the operations such as backing, and the ultrasonic radar 9 can be HC-SR04 type.

At least two infrared sensors, it sets up in the both sides of handrail body 6, and is used for detecting the side closely obstacle, and infrared sensor is sensitive to closely object response, can effectively prevent to take place the side when turning to or passing through narrow space and rub.

In order to form a complete speech input, processing and output link, the speech interaction unit comprises:

a sound pickup 12 (i.e., a microphone) for collecting voice instructions of a user;

The voice recognition module 11 is connected to the pickup 12 and the central controller, and is used for recognizing voice commands, analyzing original voice signals, recognizing effective commands therein, selecting an LD3320 chip, processing original audio from the pickup 12, locally recognizing a preset command (such as "turn on a lamp"), converting the result into a simple command code (such as cmd_open_light), and transmitting the command code to the main control ESP32 through the USART serial port.

A speaker 14 connected to the central controller for outputting voice alarms (e.g., operation confirmation, obstacle alarms, etc.);

the sound pickup 12, the voice recognition module 11, and the speaker 14 are all disposed in the placement groove 13.

In order to embody the extensive compatibility to different types of household appliances, the control unit of the internet of things comprises:

The intelligent household equipment is equipment (such as an intelligent curtain, an intelligent bulb and the like) which is provided with a communication interface and can understand and execute digital control instructions. The devices are directly and accurately controlled by sending preset communication protocol instructions. For example, the intelligent curtain motor can be directly driven by the TB6612 motor driving module to control the opening and closing of the intelligent curtain.

And the simulation control module is used for learning, storing and sending original remote control signals of the traditional household electrical appliance so as to simulate an original remote controller of the traditional household electrical appliance and complete indirect control of the traditional household electrical appliance. The traditional household appliance is a device (such as an old-fashioned television, an air conditioner and the like) which does not have an intelligent interface and is controlled by a traditional remote controller. The working mode is that the original remote controllers of the devices are learned, stored and transmitted, and the indirect control of the non-intelligent devices is realized by perfectly simulating the behaviors of the original remote controllers

In addition, to enhance universality and operational reliability, the present armrest controller 7 integrates two modes of operation, namely "voice control" and "physical key". The user can not only give instructions through voice, but also directly press the entity keys on the controller to operate, which provides a standby scheme for users who are inconvenient to use voice or in noisy environments.

At the same time, an angle encoder is built into the lifting structure of the armrest, and the system presets a safety logic-the ESP32 will automatically lock (pause) the radar detection function when it is detected that the armrest is lifted to a vertical position (typically meaning that the user is moving in and out or not using the auxiliary device 1). The aim is to avoid unnecessary obstacle alarm caused by too close body to the radar when a user stands or moves beside the handrail, thereby remarkably improving the intelligence and humanization of the user experience.

Example IV

The embodiment describes an obstacle detection and alarm method for an intelligent handrail, adopts sensors of different technical principles to conduct targeted environment monitoring on different areas around the handrail, and improves the accuracy and reliability of alarm through data processing.

As shown in fig. 4, a control method of an installed intelligent handrail includes an obstacle detection method, which includes two parallel parts.

Rear remote detection:

Acquiring original distance data of a rear obstacle through an ultrasonic radar 9 arranged at the rear part of the handrail;

Since the raw sensor data may have jumps or noise, to ensure stability, a filtering process is performed on the raw distance data to generate a stable distance value;

The filtering process includes filtering the raw distance data that falls outside a predetermined effective range, and the system first determines if the data is within a predetermined effective range, e.g., too close or too far invalid readings are discarded.

And performing first-order low-pass filtering on the original distance data in the effective range, smoothing the data curve, and weakening the abrupt change influence of single measurement, thereby obtaining a stable value which can more represent the trend of the real distance.

Whether the stable distance value is smaller than a preset safety threshold value is judged, and when the stable distance value is smaller than the preset safety threshold value, the loudspeaker 14 is driven to send out a rear obstacle voice alarm.

Side close range perception:

By the infrared sensors provided on both sides of the armrest, whether or not there is a lateral close obstacle is detected, and when the infrared sensors are triggered and the obstacle is detected, the linked speaker 14 gives an alarm.

The remote accurate measurement capability of the ultrasonic radar 9 and the short-distance quick triggering characteristic of the infrared sensor are combined, and a composite safety sensing system covering the rear and the side is constructed. The accuracy of the alarm is ensured by intelligent filtering and threshold judgment of the rear detection data, and meanwhile, the instantaneity of the side infrared sensor is utilized, so that quick response is provided.

And provides a specific example:

Detecting a rear obstacle, namely installing an HC-SR04 ultrasonic radar 9 at the rear of the handrail, wherein the detection distance is 2-400cm, and when the detection distance is less than 30cm, the loudspeaker 14 sends out a voice alarm of 'rear obstacle';

surrounding environment sensing, namely, arranging infrared sensors (such as E18-D80 NK) on two sides of the handrail, detecting short-distance obstacles (0-80 cm), and triggering to link the loudspeaker 14 to alarm.

Data filtering float filterDistance (float rawData) { for/(ultrasonic radar 9)

static float lastData = 0;

If (rawData < 20|| rawData > 400) return lastData;// filtering invalid values

LastData = 0.8 x lastdata + 0.2 x rawrdata;// first order low pass filtering

return lastData;}

The// alarm trigger logic void checkObstacle () {

float distance = filterDistance(ultrasonic.read());

if (distance<30) {

The spray. Play ("obstacle behind, please care |");

if (connectedToCloud) sendAlertToPhone(distance);

Example five

The embodiment illustrates a specific flow of a voice control method adopted by the intelligent handrail, and the specific flow is divided into the following key steps:

Front end identification and instruction encoding:

The voice recognition module 11 is used for continuously monitoring and recognizing preset keywords in the voice command of the user, and is specially used for recognizing preset keywords (such as 'turning on a lamp', 'emergency call', etc.) contained in the user utterance.

When the preset keywords are identified, the voice recognition module 11 generates corresponding instruction codes and sends the instruction codes to the central controller through serial communication;

The central controller receives and parses the instruction code (e.g., a specific number or code), and performs a corresponding preset operation according to the type of the instruction code.

Back-end parsing and classification execution:

After receiving the instruction code from the voice recognition module 11, the central controller analyzes the instruction code to understand the intention of the user.

According to the different types represented by the instruction codes, the central controller can schedule different system functions to execute corresponding preset operations. The preset operation includes at least one of the following:

when the instruction code is a household control instruction, controlling the appointed intelligent household or the traditional household appliance;

when the instruction code is an obstacle detection instruction, starting an obstacle detection program;

when the instruction code is an emergency call instruction, an emergency alarm is sent to a preset monitoring terminal;

And (3) voice feedback closed loop:

To create a complete interactive experience, after performing the preset operation, a corresponding voice feedback is played through the speaker 14 (e.g., announce "light has been turned on for you").

And provides a specific example.

The pickup 12 is a high-sensitivity microphone, a noise reduction algorithm is built in, and the effective pickup distance is less than or equal to 3 meters.

LD3320 speech recognition module 11, supporting custom instruction set (such as "turn on light") and communicating with ESP32 via USART serial port;

and the loudspeaker 14 is integrated with the intelligent armrest controller and supports operations such as voice alarm and the like.

The/(Voice instruction processing function void handleVoiceCommand (uin8_t cmd) {

switch (cmd) {

case CMD_OPEN_LIGHT:

PlayFeedback ("lamp on");

controlHomeDevice ("light", "open");// call home control function

break;

case CMD_ALERT:

PlayFeedback ("detecting an obstacle");

checkObstacle ()// trigger obstacle detection logic

break;

case CMD_EMERGENCY:

PlayFeedback ("emergency call sent");

SENDEMERGENCYALERT ()// send an alarm to the guardian

break;

After recognizing the keyword, the ld3320 returns a corresponding instruction code (e.g., cmd_open_light=1) through the serial port, and the ESP32 performs specific operations according to the instruction code.

Example six

The embodiment describes a specific method for enabling the intelligent handrail to control the non-intelligent traditional household appliance, namely enabling the intelligent handrail to 'learn' the signal of the traditional remote controller first and then 'imitate' the signal to issue a command as required, so that the compatible control of the old equipment is realized.

A method of controlling a conventional home appliance, comprising a learning step and an executing step;

the learning step is used for acquiring and storing original remote control instructions of the traditional household appliance, and comprises the following steps:

Starting an infrared learning mode, and continuously monitoring infrared signals through an infrared receiving module 15;

When a user aligns the original remote control of the conventional home appliance to the receiving module and presses a key, the module receives an infrared signal sent by the original remote control of the conventional home appliance, decodes the infrared signal to extract a remote control code and a communication protocol type thereof, wherein the remote control code is usually a unique series of numbers or hexadecimal codes (such as 0x20DF10 EF) and represents a specific action (such as turning on and volume adding), and the communication protocol type comprises a common NEC protocol, an RC5 protocol and the like, and different home appliance brands can use different protocols.

And after the decoding is successful, the system correlates the extracted remote control code with a specific control function (for example, the television is started) which can be understood by a user, and stores the pair of information (code and protocol) for later use.

The executing step is used for simulating and sending a remote control instruction according to a user instruction, and the step comprises the following steps:

Receiving a user instruction corresponding to a specific control function (e.g., speaking "television on" by voice);

the system retrieves remote control codes associated with the user instructions from the storage according to the received user instructions;

the retrieved remote control code is transmitted by the infrared transmitting module 16 according to the pre-stored communication protocol type to realize the control of the conventional household appliance.

A specific example is provided.

The hardware layer is that an ESP32 central controller is connected with a physical key, an infrared sensor and the like through a GPIO interface, is connected with an LD3320 voice module through a USART serial port protocol, is connected with an intelligent curtain motor through a PWM driving circuit, and is connected with a household appliance infrared remote control module through an infrared coding circuit:

void setup() {

Serial.begin(115200);

irreceiver.enableIRIn ();// enabled infrared receiver

Serial.println ("infrared learning mode enabled, please press remote control key.,") }

void loop() {

If (irreceiver. Decoder (& results)) {// detection of infrared signal

Serial.print ("received infrared code:);

printIRResultAsHex (& results);// printing hexadecimal code

Serial.print ("protocol:");

serial. Println (irreceiver. Decoder IRData protocol);// printing protocol type

Irreceiver. Resume ();// continue listening for the next signal

void sendTVPowerOn() {

Serial.println ("send tv power on signal.");

sendner/sendnet (tv_power_on, 32);// send 32-bit NEC code

Delay (100);// wait for completion of IR signal transmission })

Transmission television shutdown signal (NEC protocol) void sendTVPowerOff () {

Serial.println ("send television off signal.,");

irSender.sendNEC(TV_POWER_OFF, 32);

delay(100);}

Air conditioning cooling 26 ℃ signal (NEC protocol) void sendACCool () { is sent/sent

Serial.println ("send air conditioning 26 ℃ signal.,");

irSender.sendNEC(AC_COOL_26, 32);

delay(100);

and the GPIO pin of the ESP32 development board is connected with an infrared emitting diode, and infrared signals of a television and air conditioner remote controller are simulated through an open source library IRremoteESP and 8236, so that control over the television and the air conditioner is realized.

Ir sender, sendfec (number of bits) sends infrared signals of NEC protocol. If the target device uses another protocol (e.g., RC 5), a corresponding transmit function (e.g., sendRC ()) is called.

Example seven

The embodiment realizes the real-time synchronization of remote control and equipment state, constructs a bidirectional communication link which takes a cloud platform as an intermediary and connects a user remote terminal and an intelligent handrail, and comprises a remote control step and a state synchronization step;

The remote control step comprises the following steps:

A control instruction for intelligent household equipment is sent to a cloud service platform through a remote terminal (such as a smart phone or a computer provided with a specific application program APP);

After receiving the instruction, the cloud service platform forwards the control instruction to a central controller of an intelligent handrail associated with the intelligent household equipment through a wireless network (such as Wi-Fi);

And the central controller receives and executes the control instruction, and executes the control instruction locally to control the intelligent household equipment.

The state synchronization step includes:

the central controller monitors state data (for example, whether a curtain is in an open state or a closed state, what the indoor temperature is, etc.) of a sensor connected with the intelligent handrail or intelligent household equipment in real time;

When the state data changes (whether caused by remote control or local operation), the central controller reports the updated state data to the cloud service platform;

and the cloud service platform synchronizes the updated state data to the remote terminal for display.

A specific example is provided.

The central controller accesses the home local area network through the WIFI module, establishes a TCP/IP communication link with the cloud service platform, and supports the MQTT protocol to realize the reporting of equipment state data and the receiving of remote instructions;

Handset/computer→cloud platform (HTTP/MQTT) →esp32 (WiFi) →local device (lights/curtains, etc.);

Reverse state synchronization ESP32 (sensor/device state) →cloud platform (ThingsBoard) →handset/computer.

And the application layer is that a user triggers a control signal through a voice instruction or a physical key, and after the control signal is analyzed by the central controller, the control signal drives the functional module of the Internet of things to execute operation (such as controlling the forward and reverse rotation of a curtain motor and sending an infrared remote control code) through a corresponding protocol.

According to the invention, all intelligent control and sensing modules are integrated on one mountable handrail body 6, and the mounting structure 5 with strong adaptability is adopted, so that various existing auxiliary equipment 1 can be conveniently and intelligently upgraded, structural transformation or integral replacement of the auxiliary equipment 1 is avoided, the implementation cost is greatly reduced, and the application range of products is widened.

By placing the armrest controller 7 directly over the armrest on which the user is dependent at any time, a centralized control center is provided for the user that is accessible to the tentacles. Therefore, the user can conveniently control the environment without moving or searching for devices such as a scattered remote controller, a mobile phone and the like, and the living independence and the operation convenience of the device under a limited state are obviously improved.

The obstacle detection unit is constructed by fusing the ultrasonic radar 9 and the infrared sensor, and the detection signals are processed by combining the data filtering algorithm, so that the near-far obstacles around a user (comprising the rear part and the side parts) can be comprehensively and reliably perceived, and a voice alarm can be timely sent out, thereby effectively pre-warning the potential collision risk and greatly improving the safety of the user in the moving process of the auxiliary equipment 1.

Through set up two kinds of different control interfaces in thing networking control unit, be used for direct control intelligent household equipment and analog control traditional tame electrical installation respectively, solved the incompatible problem of current intelligent system and a large amount of non-intelligent household electrical appliances of stock. Therefore, users can uniformly manage and control almost all electronic equipment in the home through the same armrest controller 7, and seamless experience of whole house intelligence is truly realized.

Finally, by introducing the voice interaction unit, the user is allowed to give control instructions in natural language, which is particularly important for users with inconvenient hand operation or poor eyesight, and the operation threshold is reduced.

In the description of the present specification, reference to the terms "one embodiment/manner," "some embodiments/manner," "example," "a particular example," "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/manner or example is included in at least one embodiment/manner or example of the application. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment/manner or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples described in this specification and the features of the various embodiments/modes or examples can be combined and combined by persons skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

It will be appreciated by persons skilled in the art that the above embodiments are provided for clarity of illustration only and are not intended to limit the scope of the invention. Other variations or modifications of the above-described invention will be apparent to those of skill in the art, and are still within the scope of the invention.

Claims (10)

1. An installed intelligent handrail, characterized by comprising:

A handrail body (6);

a mounting structure (5) for mounting the armrest body (6) to an auxiliary device (1);

A handrail controller (7) provided on the handrail body (6);

an obstacle detection unit mounted on the armrest body (6) and electrically connected to the armrest controller (7) for detecting surrounding obstacles;

The voice interaction unit is electrically connected with the armrest controller (7) and is used for receiving a voice instruction of a user and outputting a voice alarm according to the detection result of the obstacle detection unit;

And the Internet of things control unit is electrically connected with the armrest controller (7) and is used for controlling at least one household device based on the voice instruction.

2. A mounted intelligent handrail according to claim 1, characterized in that the handrail body (6) comprises:

A rear beam (3);

At least one side branch handrail, its rear end through back Liang Taiqi axle (2) with back roof beam (3) rotate and be connected, side branch handrail pass through mounting structure (5) with auxiliary assembly (1) can dismantle and be connected, handrail controller (7) lift axle (8) through the controller with the front end of side branch handrail rotates and is connected.

3. A mounted intelligent handrail according to claim 2, characterized in that the axis of rotation of the rear Liang Taiqi shaft (2) is perpendicular to the direction of extension of the side branch handrail, and the axis of rotation of the controller lifting shaft (8) is parallel to the direction of extension of the side branch handrail.

4. The installed intelligent handrail according to claim 2, characterized in that the installation structure (5) is at least one fixed buckle, the fixed buckle is arranged on the lower side of the side branch handrail, and the fixed buckle is detachably clamped with the original handrail of the auxiliary equipment (1);

And the side branch handrail rotates around the rear Liang Taiqi shaft (2), so that the fixed buckle is separated from the original handrail.

5. The installed intelligent handrail according to claim 2, wherein the handrail controller (7) comprises a housing, a placement groove (13) arranged in the housing, and a central controller arranged in the placement groove (13), and the obstacle detection unit, the voice interaction unit and the internet of things control unit are all electrically connected with the central controller.

6. The installed intelligent handrail of claim 5, wherein the obstacle detection unit comprises:

At least one ultrasonic radar (9) provided at the rear of the armrest body (6) and for detecting an obstacle at the rear;

At least two infrared sensors which are arranged at both sides of the armrest body (6) and are used for detecting obstacles at a lateral short distance;

The voice interaction unit includes:

a sound pickup (12) for collecting a voice instruction of the user;

a voice recognition module (11) connected to the pickup (12) and the central controller for recognizing the voice command;

A speaker (14) connected to the central controller for outputting a voice alert;

The pickup (12), the voice recognition module (11) and the loudspeaker (14) are all arranged in the placing groove (13);

the control unit of the Internet of things comprises:

The direct control module is used for sending a control instruction to the intelligent home equipment which originally supports a communication protocol, and completing direct control of the intelligent home equipment;

And the simulation control module is used for learning, storing and sending original remote control signals of the traditional household electrical equipment so as to simulate the original remote controller of the traditional household electrical equipment and complete indirect control of the traditional household electrical equipment.

7. A method of controlling a mounted intelligent handrail, based on the mounted intelligent handrail of claim 6, comprising a method of obstacle detection, the method comprising:

Acquiring original distance data of the rear obstacle through an ultrasonic radar (9) arranged at the rear part of the handrail;

performing a filtering process on the original distance data to generate a stable distance value, the filtering process including filtering the original distance data falling outside a preset effective range and performing a first order low pass filtering on the original distance data within the effective range;

Judging whether the stable distance value is smaller than a preset safety threshold value, and driving a loudspeaker (14) to send out a rear obstacle voice alarm when the stable distance value is smaller than the preset safety threshold value;

And the infrared sensors arranged on the two sides of the handrail detect whether the side short-distance obstacle exists, and when the infrared sensors are triggered and detect the obstacle, the loudspeaker (14) is linked to give an alarm.

8. The method of claim 7, further comprising a voice control method, the method comprising:

Continuously monitoring and identifying preset keywords in a user voice instruction through a voice identification module (11);

When the preset keywords are identified, the voice recognition module (11) generates corresponding instruction codes and sends the instruction codes to a central controller through serial communication;

the central controller receives and analyzes the instruction codes and executes corresponding preset operations according to the types of the instruction codes;

The preset operation includes at least one of:

when the instruction code is a household control instruction, controlling the appointed intelligent household or the traditional household appliance;

when the instruction code is an obstacle detection instruction, starting an obstacle detection program;

when the instruction code is an emergency call instruction, an emergency alarm is sent to a preset monitoring terminal;

and playing corresponding voice feedback through a loudspeaker (14) after the preset operation is executed.

9. The method of claim 7, further comprising a method of controlling a conventional home appliance, comprising a learning step and an executing step;

The learning step is used for acquiring and storing original remote control instructions of the traditional household appliance, and comprises the following steps:

Starting an infrared learning mode, and continuously monitoring infrared signals through an infrared receiving module (15);

When receiving an infrared signal sent by an original remote controller of the traditional household appliance, decoding the infrared signal to extract a remote control code and a communication protocol type of the infrared signal;

Associating and storing the remote control code with a specific control function;

the executing step is used for simulating and sending a remote control instruction according to a user instruction, and the executing step comprises the following steps:

receiving a user instruction corresponding to the specific control function;

retrieving from storage a remote control code associated with the user instruction;

And transmitting the retrieved remote control code by an infrared transmitting module (16) according to a pre-stored communication protocol type so as to realize the control of the traditional household appliance.

10. The method for controlling a mounted intelligent handrail according to claim 7, further comprising a remote control and status synchronization method comprising a remote control step and a status synchronization step;

The remote control step includes:

a control instruction for the intelligent household equipment is sent to a cloud service platform through a remote terminal;

the cloud service platform forwards the control instruction to a central controller of an intelligent handrail associated with the intelligent household equipment through a wireless network;

the central controller receives and executes the control instruction to control the intelligent household equipment;

the state synchronization step includes:

The central controller monitors state data of a sensor or the intelligent household equipment connected with the intelligent handrail in real time;

when the state data changes, the central controller reports the updated state data to the cloud service platform;

And the cloud service platform synchronizes the updated state data to the remote terminal for display.