CN111367295A - Navigation and obstacle avoidance system and method of intelligent wheelchair bed - Google Patents
Navigation and obstacle avoidance system and method of intelligent wheelchair bed Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
The invention discloses a navigation and obstacle avoidance system and method of an intelligent wheelchair bed. The method is characterized in that the driving mode of the wheelchair bed comprises a semi-automatic driving mode and an automatic driving mode, the movement of the wheelchair bed in the semi-automatic driving mode is mainly controlled by the cooperation of a human-computer interaction terminal and a mobile terminal, and the movement of the wheelchair bed in the automatic driving mode is mainly controlled by the mobile terminal. The invention can effectively solve the problems that the prior wheelchair bed is inconvenient to drive, difficult to use by a user and easy to collide; meanwhile, the wheelchair bed has an automatic driving mode and a semi-automatic driving mode for the user or the guardian to select and use, and the wheelchair bed is flexible and convenient to use.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a navigation and obstacle avoidance system and method of an intelligent wheelchair bed.
Background
With the improvement of economic level, developed or developing countries in the world face the problem of population aging at present, and the increasing speed of the aging population in China at present exceeds the aging speed of the world. According to statistics, at present, the number of old people over 60 years old in China reaches 2.1 hundred million, wherein approximately 4000 ten thousand old people can not take care of themselves at all or can not take care of themselves, and in addition, the total number of various disabled people in China reaches 8296 thousand, wherein 2412 thousand of physical disabilities, and the old people and the disabled people need to be carried out on a bed or a wheelchair in daily life, treatment and rehabilitation training. The emerging multifunctional intelligent nursing wheelchair bed in the market can meet most requirements of users at present, however, the wheelchair bed with the functions of a bed and a chair is generally large in size, and the universal problems are that the users are difficult to drive in a wheelchair state and easily collide with obstacles, so that the safety of the wheelchair bed is difficult to effectively guarantee.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a navigation and obstacle avoidance system of an intelligent wheelchair bed, which can effectively solve the problems that the existing wheelchair bed is inconvenient to drive, difficult to use for a user and easy to collide.
The invention also aims to provide a navigation and obstacle avoidance method of the intelligent wheelchair bed, which is realized by the system.
The technical scheme of the invention is as follows: a navigation and obstacle avoidance system of an intelligent wheelchair bed comprises sensors, a mobile terminal, a controller and a human-computer interaction terminal, wherein the plurality of sensors are arranged on the periphery of the wheelchair bed, the sensors are respectively connected with the mobile terminal, the mobile terminal is connected with the controller through a wired device or a wireless device, and the human-computer interaction terminal is connected with the mobile terminal through a wired or wireless mode;
the sensor is used for detecting environmental information around the wheelchair bed; the mobile terminal is the core of the navigation and obstacle avoidance system and is used for analyzing and processing the information detected by the sensor and sending a control signal to the controller; the controller receives a control signal from the mobile terminal or the human-computer interaction terminal and sends a control instruction to a bottom device arranged on the wheelchair bed; the user inputs destination information or wheelchair bed movement control information through the human-computer interaction terminal.
The sensor is one or more of an ultrasonic sensor, an infrared sensor, a laser sensor, a displacement sensor, a vision camera or a radar.
A central scheduling module, a sensor signal acquisition module, a digital signal processing module, a global path planning module, a local path planning module, a human-computer interaction module, a communication module and a control signal resolving module which are respectively connected with the central scheduling module are arranged in the mobile terminal;
the central scheduling module is used for scheduling and coordinating the execution of other modules; the sensor signal acquisition module is used for receiving the environmental information around the wheelchair bed acquired by each sensor; the digital signal processing module processes information acquired by the sensor and identifies a drivable area and an obstacle in the surrounding environment; the global path planning module performs global optimal path planning when the wheelchair adopts an automatic driving mode; the local path planning module replans the local path when the obstacle appears on the preset path; the human-computer interaction module is used for communicating with the human-computer interaction terminal; the communication module provides a communication interface or a communication signal for the mobile terminal to realize the communication between the mobile terminal and the sensor, the controller and the man-machine interaction module; the control signal resolving module is used for interpreting and analyzing the feedback signal of the controller and sending a control signal to the controller.
According to the actual use requirement of the wheelchair bed, the mobile terminal can adopt one of an industrial computer, a PC, an FPGA or other computers with digital signal processing functions.
The human-computer interaction terminal is a touch screen.
The bottom device is one or more of a driving motor, a speed reducer, wheels, a brake device, a speedometer, a loudspeaker, a lighting lamp or an alarm indicator lamp. Each bottom-layer device is connected with the controller through a corresponding driver.
The principle of the navigation and obstacle avoidance system is as follows: detecting an environment of 360 degrees around the wheelchair bed through a sensor, calculating and analyzing a passable area and the position of an obstacle in the environment around the wheelchair bed through a mobile terminal, and drawing an optimal path from a starting point to a terminal point through a path planning calculation rule; the mobile terminal is connected with the controller through a wired or wireless device, and the controller controls bottom devices such as a motor of the wheelchair bed and the like to complete various designated actions. When the wheelchair is used, a user or a guardian can select a semi-automatic driving mode or an automatic driving mode, the navigation and obstacle avoidance system in the semi-automatic driving mode detects the position and the direction of an obstacle in the surrounding environment of the wheelchair bed relative to the wheelchair bed, and when the obstacle appears in the advancing direction of the wheelchair bed and the distance between the obstacle and the wheelchair bed is smaller than a set threshold value, the navigation and obstacle avoidance system sends alarm information to remind the user or the guardian to take active deceleration and avoidance measures so as to ensure the safety of the user; in the automatic driving mode, the navigation and obstacle avoidance system detects the passable area of the surrounding environment of the wheelchair bed and the position of an obstacle relative to the wheelchair bed, the mobile terminal firstly plans a global optimal path to the destination according to the position of the wheelchair bed, the position information of the destination and the environment information, and the global path planning algorithm fully considers the comfort of a user and plans a path with few curves and no large-angle sharp bend; and setting a local target point on the global path, if necessary, planning a local path to the next local target point in real time by adopting a local path planning algorithm, wherein the local path planning algorithm considers the external dimension and the dynamic characteristic of the wheelchair bed, can also adjust an obstacle avoidance strategy in real time according to the dynamic change of the external environment, converts the planning result of each node into control information of the wheelchair bed and sends the control information to the controller, and the controller controls the motor to drive the wheelchair bed to a destination according to the control information.
The invention realizes a navigation and obstacle avoidance method of an intelligent wheelchair bed through the system, the driving modes of the wheelchair bed comprise a semi-automatic driving mode and an automatic driving mode, the movement of the wheelchair bed in the semi-automatic driving mode is mainly cooperatively controlled by a human-computer interaction terminal and a mobile terminal, and the movement of the wheelchair bed in the automatic driving mode is mainly controlled by the mobile terminal.
When the driving mode of the wheelchair bed adopts a semi-automatic driving mode, the navigation and obstacle avoidance method of the wheelchair bed comprises the following steps:
(1) a user or a guardian operates an operating rod on the wheelchair bed, the wheelchair bed is directly controlled to move through a controller, a sensor detects the environment around the wheelchair bed in real time in the moving process to form a local environment map and transmits a signal to a mobile terminal, and the mobile terminal judges the distance change between the periphery of the wheelchair bed and an obstacle in real time;
(2) when the judgment result of the mobile terminal shows that an obstacle appears in the advancing direction of the wheelchair bed and the distance between the wheelchair bed and the obstacle is smaller than a safety threshold value, prompting the judgment result of possible collision through the human-computer interaction terminal;
(3) the user or the guardian controls the operating rod again according to the judgment result displayed by the man-machine interaction terminal, and the wheelchair bed is controlled to move through the controller;
(4) the mobile terminal detects the control information fed back from the controller in real time;
if the wheelchair bed runs away from the obstacle, the step (1) is re-entered until the wheelchair bed runs to the destination;
if the wheelchair bed runs in the direction close to the obstacle, the mobile terminal sends a stop signal to the controller, the controller sends a parking instruction to decelerate the wheelchair bed until the wheelchair is parked, and meanwhile, a judgment result of possible collision is prompted again through the human-computer interaction terminal; at this time, the user or the guardian can restart the wheelchair bed only by controlling the wheelchair bed to move towards the direction far away from the barrier, and the step (1) is re-entered until the wheelchair bed moves to the destination.
In the semi-automatic driving mode, the destination does not need to be set through the system in the driving process, the driving path and the destination of the wheelchair bed are actually controlled by a user or a guardian, the navigation and obstacle avoidance system only plays an auxiliary role in avoiding collision, a default safety threshold is arranged in the navigation and obstacle avoidance system, the safety threshold is adopted under general conditions, and the user or the guardian can also set the individualized threshold according to actual needs under special conditions.
Secondly, when the driving mode of the wheelchair bed adopts an automatic driving mode, the navigation and obstacle avoidance method of the wheelchair bed comprises the following steps:
(1) a user or a guardian inputs destination information through a human-computer interaction terminal, and a mobile terminal carries out path planning and displays the path planning on the human-computer interaction terminal;
(2) the mobile terminal sends a control instruction through the controller and starts the wheelchair bed to move; meanwhile, a sensor detects the environment around the wheelchair bed, and the mobile terminal sets a local target point according to the turning point of the path and the detection range of the sensor;
(3) the wheelchair bed moves to a local target point, meanwhile, a sensor detects the environment around the wheelchair bed in real time, and the mobile terminal calculates the position and the posture of the wheelchair bed;
when no obstacle appears on the preset path, the wheelchair bed continues to move forwards, the mobile terminal sets a next local target point and repeats the step (3) until the wheelchair bed runs to the destination;
and (4) when the obstacle appears on the preset path, the mobile terminal carries out local path planning again, and then the step (3) is repeated until the wheelchair bed runs to the destination.
In the step (1), the specific process of the mobile terminal for path planning is as follows: the central scheduling module acquires the current pose of the wheelchair bed from the controller, receives destination information acquired by the man-machine interaction module, sends the current pose and the destination information to the global path planning module, the global path planning module searches an optimal path from a starting point to a destination by adopting a heuristic search algorithm (the heuristic search algorithm is a general algorithm in a traditional navigation system), a search cost function comprises but is not limited to distance cost and direction cost, and then the path information is fed back to the central scheduling module after the global optimal path is planned.
In the step (3), the specific process of the mobile terminal for local path planning is as follows: the central scheduling module sends the local target points arranged on the global path to the local path planning module; when an obstacle appears on a preset path, starting a local path planning task by a local path planning module, receiving the position and pose information and the environment information of the wheelchair bed in real time by the local path planning module, and solving the linear velocity, the angular velocity, the driving direction, the linear acceleration and the angular acceleration of the next node wheelchair bed in real time by combining the motion model, the speed limit, the acceleration and deceleration performance and the safety threshold of the wheelchair bed to form a local path (the specific calculation process of the local path planning is also the existing algorithm, and only the general algorithm in the traditional navigation system is adopted); then the control signal resolving module resolves the control signal of the bottom layer device of the wheelchair bed according to the result of the local path planning, and then sends the control signal to the controller through the communication module.
In the running process of the wheelchair bed, the human-computer interaction terminal displays the current position of the wheelchair bed, the distance traveled by the current distance and the remaining distance in real time; if a user or a guardian inputs new destination information in the driving process, the navigation and obstacle avoidance system of the wheelchair bed needs to perform path planning again and drive the wheelchair bed to drive.
Compared with the prior art, the invention has the following beneficial effects:
the navigation and obstacle avoidance system and method of the intelligent wheelchair bed can effectively solve the problems that the existing wheelchair bed is inconvenient to drive, difficult to use for users and easy to collide; meanwhile, the wheelchair bed has an automatic driving mode and a semi-automatic driving mode for a user or a guardian to select and use, the use is flexible and convenient, the intelligent wheelchair bed is controlled by the navigation and obstacle avoidance system and the user or the guardian together in the semi-automatic mode, the navigation and obstacle avoidance system can prevent the wheelchair bed from colliding with obstacles in the moving process, the intelligent wheelchair bed is completely controlled by the navigation and obstacle avoidance system in the full-automatic mode, the intelligent wheelchair bed is self-positioned, and an optimal path is selected through path planning to safely and stably travel to a destination. The activity time and the activity range of the user can be calculated according to the use record of the wheelchair bed, and the wheelchair can send out reminding information when the user is inactive for a long time, so that the user is prevented from being in bed for a long time or in a single environment, and the rehabilitation of the sick and wounded user is facilitated.
Drawings
Fig. 1 is a schematic diagram of a hardware structure of the navigation and obstacle avoidance system.
Fig. 2 is a schematic diagram illustrating the components of each functional module in the mobile terminal.
Fig. 3 is a schematic diagram of the operation principle in the semi-automatic driving mode.
Fig. 4 is a schematic diagram of the working principle in the automatic driving mode.
Fig. 5 is a schematic structural view of the wheelchair bed in a bed state.
Fig. 6 is a schematic structural view of the wheelchair bed in the wheelchair state.
Fig. 7 is a schematic diagram of a global path planning result displayed by the human-computer interaction terminal in embodiment 2.
Fig. 8 is a schematic view of a display on the human-computer interaction terminal when the wheelchair bed starts from a starting point, avoids a first obstacle, and goes to a first local target point.
FIG. 9 is a schematic view of the human-computer interaction terminal as the wheelchair passes through the narrow gap between the obstacles and then moves to the next local target point.
Fig. 10 is a schematic view of a display on the human-computer interaction terminal when the wheelchair bed reaches a destination.
FIG. 11 is a schematic diagram of a wheelchair bed travel track record displayed on the human-computer interaction terminal.
Detailed Description
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
Example 1
The navigation and obstacle avoidance system of the intelligent wheelchair bed comprises sensors, a mobile terminal, a controller and a human-computer interaction terminal, wherein the sensors are arranged on the periphery of the wheelchair bed and are respectively connected with the mobile terminal, the mobile terminal is connected with the controller through a wired device or a wireless device, and the human-computer interaction terminal is connected with the mobile terminal through a wired or wireless mode. The sensor is used for detecting environmental information around the wheelchair bed; the mobile terminal is the core of the navigation and obstacle avoidance system and is used for analyzing and processing the information detected by the sensor and sending a control signal to the controller; the controller receives a control signal from the mobile terminal or the human-computer interaction terminal and sends a control instruction to a bottom device arranged on the wheelchair bed; the user inputs destination information or wheelchair bed movement control information through the human-computer interaction terminal.
In the system, the sensor is one or more of an ultrasonic sensor, an infrared sensor, a laser sensor, a displacement sensor, a vision camera or a radar. As shown in fig. 5 or fig. 6, the operating state of the wheelchair bed includes a bed state (as shown in fig. 5) and a wheelchair state (as shown in fig. 6), and sensors are respectively disposed in the front, rear, left, and right directions of the wheelchair bed, in this embodiment, a first sensor 1 detects environmental information right in front of the wheelchair bed, a second sensor 2 detects environmental information left in front of the wheelchair bed, a third sensor 3 detects environmental information right in front of the wheelchair bed, and a fourth sensor 4 detects environmental information rear of the wheelchair bed. According to the actual requirement of the wheelchair bed, the number of the sensors and the actual installation position can be adjusted correspondingly. The human-computer interaction terminal is a touch screen 5.
As shown in fig. 2, a central scheduling module, a sensor signal acquisition module, a digital signal processing module, a global path planning module, a local path planning module, a human-computer interaction module, a communication module and a control signal resolving module which are respectively connected with the central scheduling module are arranged in the mobile terminal; the central scheduling module is used for scheduling and coordinating the execution of other modules; the sensor signal acquisition module is used for receiving the environmental information around the wheelchair bed acquired by each sensor; the digital signal processing module processes information acquired by the sensor and identifies a drivable area and an obstacle in the surrounding environment; the global path planning module performs global optimal path planning when the wheelchair adopts an automatic driving mode; the local path planning module replans the local path when the obstacle appears on the preset path; the human-computer interaction module is used for communicating with the human-computer interaction terminal; the communication module provides a communication interface or a communication signal for the mobile terminal to realize the communication between the mobile terminal and the sensor, the controller and the man-machine interaction module; the control signal resolving module is used for interpreting and analyzing the feedback signal of the controller and sending a control signal to the controller. According to the actual use requirement of the wheelchair bed, the mobile terminal can adopt one of an industrial computer, a PC, an FPGA or other computers with digital signal processing functions.
The bottom device is one or more of a driving motor, a speed reducer, wheels, a brake device, a speedometer, a loudspeaker, a lighting lamp or an alarm indicator lamp. Each bottom-layer device is connected with the controller through a corresponding driver.
The principle of the navigation and obstacle avoidance system is as follows: detecting an environment of 360 degrees around the wheelchair bed through a sensor, calculating and analyzing a passable area and the position of an obstacle in the environment around the wheelchair bed through a mobile terminal, and drawing an optimal path from a starting point to a terminal point through a path planning calculation rule; the mobile terminal is connected with the controller through a wired or wireless device, and the controller controls bottom devices such as a motor of the wheelchair bed and the like to complete various designated actions. When the wheelchair is used, a user or a guardian can select a semi-automatic driving mode or an automatic driving mode, the navigation and obstacle avoidance system in the semi-automatic driving mode detects the position and the direction of an obstacle in the surrounding environment of the wheelchair bed relative to the wheelchair bed, and when the obstacle appears in the advancing direction of the wheelchair bed and the distance between the obstacle and the wheelchair bed is smaller than a set threshold value, the navigation and obstacle avoidance system sends alarm information to remind the user or the guardian to take active deceleration and avoidance measures so as to ensure the safety of the user; in the automatic driving mode, the navigation and obstacle avoidance system detects the passable area of the surrounding environment of the wheelchair bed and the position of an obstacle relative to the wheelchair bed, the mobile terminal firstly plans a global optimal path to the destination according to the position of the wheelchair bed, the position information of the destination and the environment information, and the global path planning algorithm fully considers the comfort of a user and plans a path with few curves and no large-angle sharp bend; and setting a local target point on the global path, if necessary, planning a local path to the next local target point in real time by adopting a local path planning algorithm, wherein the local path planning algorithm considers the external dimension and the dynamic characteristic of the wheelchair bed, can also adjust an obstacle avoidance strategy in real time according to the dynamic change of the external environment, converts the planning result of each node into control information of the wheelchair bed and sends the control information to the controller, and the controller controls the motor to drive the wheelchair bed to a destination according to the control information.
Example 2
The driving modes of the wheelchair bed comprise a semi-automatic driving mode and an automatic driving mode, the movement of the wheelchair bed in the semi-automatic driving mode is mainly controlled by the cooperation of a human-computer interaction terminal and a mobile terminal, and the movement of the wheelchair bed in the automatic driving mode is mainly controlled by the mobile terminal.
In the semi-automatic driving mode, as shown in fig. 3, the movement of the wheelchair bed is controlled by the joystick, and the mobile terminal judges the direction and distance change of each in the local environment map in real time. When the mobile terminal detects that the distance between the obstacle and the wheelchair bed in the advancing direction of the wheelchair bed is smaller than a set threshold value, the mobile terminal judges that collision is possible, the mobile terminal detects the control input of a user or a guardian at the moment, if the user or the guardian still controls the wheelchair bed to move towards the direction close to the obstacle, the mobile terminal ignores the input of the user or the guardian at the moment, and sends a stop signal to the controller to enable the wheelchair bed to decelerate until the wheelchair bed stops, so that collision is prevented. Meanwhile, the loudspeaker gives out a warning prompt, and the man-machine interaction terminal displays the direction in which collision is likely to happen and prompts the safe driving direction of a user or a guardian. At the moment, only the control signal for driving to the safe area is input by the user or the guardian, and the user or the guardian is effective, the mobile terminal sends the effective control signal to the controller, and the wheelchair bed drives to the safe area, so that collision is avoided.
In the automatic driving mode, as shown in fig. 4, the movement of the wheelchair bed is completely controlled by the navigation and obstacle avoidance system, the system visually displays map information on an interactive screen (i.e., a human-computer interactive terminal), a user or a guardian only needs to point and select a destination on the interactive screen, the navigation and obstacle avoidance system can plan a global optimal path from a current position to the destination, as shown in fig. 7, the system sets local target points (as shown in '×') on the global path according to turning points of the global path and detection ranges of sensors, the number of the actual local target points is determined by the global path and the sensors used, the sensors monitor environmental information around the wheelchair bed in real time during the driving process, and simultaneously solve the position and posture of the wheelchair bed itself, when an obstacle appears on a predetermined driving track, the navigation and obstacle avoidance system plans a local path to avoid various obstacles appearing in the driving direction, as shown in fig. 8, if the wheelchair bed travels to a first local target point, an obstacle exists ahead, the wheelchair bed takes action to avoid collision with the wheelchair bed, and the wheelchair bed enters a new obstacle, and the current travel route to the monitored target point, and the current destination, if the current route of the wheelchair bed has passed through the interaction target point or the monitored target point, the current route is input, and the monitored target point is input again, as shown in the current route, and the monitored target point is input, and the optimal route of the current route of the wheelchair bed.
As mentioned above, the present invention can be better realized, and the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; all equivalent changes and modifications made according to the present disclosure are intended to be covered by the scope of the claims of the present invention.
Claims (10)
1. The navigation and obstacle avoidance system of the intelligent wheelchair bed is characterized by comprising sensors, a mobile terminal, a controller and a human-computer interaction terminal, wherein the plurality of sensors are arranged on the periphery of the wheelchair bed, the sensors are respectively connected with the mobile terminal, the mobile terminal is connected with the controller through a wired device or a wireless device, and the human-computer interaction terminal is connected with the mobile terminal through a wired or wireless mode;
the sensor is used for detecting environmental information around the wheelchair bed; the mobile terminal is the core of the navigation and obstacle avoidance system and is used for analyzing and processing the information detected by the sensor and sending a control signal to the controller; the controller receives a control signal from the mobile terminal or the human-computer interaction terminal and sends a control instruction to a bottom device arranged on the wheelchair bed; the user inputs destination information or wheelchair bed movement control information through the human-computer interaction terminal.
2. The system of claim 1, wherein the sensor is one or more of an ultrasonic sensor, an infrared sensor, a laser sensor, a displacement sensor, a vision camera, or a radar.
3. The system of claim 1, wherein a central scheduling module, a sensor signal acquisition module, a digital signal processing module, a global path planning module, a local path planning module, a human-computer interaction module, a communication module and a control signal resolving module are arranged in the mobile terminal, and the sensor signal acquisition module, the digital signal processing module, the global path planning module, the local path planning module, the human-computer interaction module, the communication module and the control signal resolving module are respectively connected with the central scheduling module;
the central scheduling module is used for scheduling and coordinating the execution of other modules; the sensor signal acquisition module is used for receiving the environmental information around the wheelchair bed acquired by each sensor; the digital signal processing module processes information acquired by the sensor and identifies a drivable area and an obstacle in the surrounding environment; the global path planning module performs global optimal path planning when the wheelchair adopts an automatic driving mode; the local path planning module replans the local path when the obstacle appears on the preset path; the human-computer interaction module is used for communicating with the human-computer interaction terminal; the communication module provides a communication interface or a communication signal for the mobile terminal to realize the communication between the mobile terminal and the sensor, the controller and the man-machine interaction module; the control signal resolving module is used for interpreting and analyzing the feedback signal of the controller and sending a control signal to the controller.
4. The system of claim 1, wherein the human-computer interaction terminal is a touch screen.
5. The system of claim 1, wherein the bottom device is one or more of a driving motor, a speed reducer, a wheel, a brake, a odometer, a speaker, a lighting lamp, or an alarm lamp.
6. The system for realizing the navigation and obstacle avoidance method of the intelligent wheelchair bed according to any one of claims 1 to 5, wherein the driving modes of the wheelchair bed comprise a semi-automatic driving mode and an automatic driving mode, the movement of the wheelchair bed in the semi-automatic driving mode is mainly controlled by the cooperation of a human-computer interaction terminal and a mobile terminal, and the movement of the wheelchair bed in the automatic driving mode is mainly controlled by the mobile terminal.
7. The intelligent wheelchair bed navigation and obstacle avoidance method as recited in claim 6, wherein when the wheelchair bed driving mode adopts a semi-automatic driving mode, the wheelchair bed navigation and obstacle avoidance method comprises the following steps:
(1) a user or a guardian operates an operating rod on the wheelchair bed, the wheelchair bed is directly controlled to move through a controller, a sensor detects the environment around the wheelchair bed in real time in the moving process to form a local environment map and transmits a signal to a mobile terminal, and the mobile terminal judges the distance change between the periphery of the wheelchair bed and an obstacle in real time;
(2) when the judgment result of the mobile terminal shows that an obstacle appears in the advancing direction of the wheelchair bed and the distance between the wheelchair bed and the obstacle is smaller than a safety threshold value, prompting the judgment result of possible collision through the human-computer interaction terminal;
(3) the user or the guardian controls the operating rod again according to the judgment result displayed by the man-machine interaction terminal, and the wheelchair bed is controlled to move through the controller;
(4) the mobile terminal detects the control information fed back from the controller in real time;
if the wheelchair bed runs away from the obstacle, the step (1) is re-entered until the wheelchair bed runs to the destination;
if the wheelchair bed runs in the direction close to the obstacle, the mobile terminal sends a stop signal to the controller, the controller sends a parking instruction to decelerate the wheelchair bed until the wheelchair is parked, and meanwhile, a judgment result of possible collision is prompted again through the human-computer interaction terminal; at this time, the user or the guardian can restart the wheelchair bed only by controlling the wheelchair bed to move towards the direction far away from the barrier, and the step (1) is re-entered until the wheelchair bed moves to the destination.
8. The intelligent wheelchair bed navigation and obstacle avoidance method as recited in claim 6, wherein when the wheelchair bed driving mode adopts an automatic driving mode, the wheelchair bed navigation and obstacle avoidance method comprises the following steps:
(1) a user or a guardian inputs destination information through a human-computer interaction terminal, and a mobile terminal carries out path planning and displays the path planning on the human-computer interaction terminal;
(2) the mobile terminal sends a control instruction through the controller and starts the wheelchair bed to move; meanwhile, a sensor detects the environment around the wheelchair bed, and the mobile terminal sets a local target point according to the turning point of the path and the detection range of the sensor;
(3) the wheelchair bed moves to a local target point, meanwhile, a sensor detects the environment around the wheelchair bed in real time, and the mobile terminal calculates the position and the posture of the wheelchair bed;
when no obstacle appears on the preset path, the wheelchair bed continues to move forwards, the mobile terminal sets a next local target point and repeats the step (3) until the wheelchair bed runs to the destination;
and (4) when the obstacle appears on the preset path, the mobile terminal carries out local path planning again, and then the step (3) is repeated until the wheelchair bed runs to the destination.
9. The navigation and obstacle avoidance method for the intelligent wheelchair bed as claimed in claim 8, wherein in the step (1), the specific process of the mobile terminal for path planning is as follows: the central scheduling module acquires the current pose of the wheelchair bed from the controller, receives destination information acquired by the human-computer interaction module, and sends the current pose and the destination information to the global path planning module, the global path planning module searches an optimal path from a starting point to a destination by adopting a heuristic search algorithm, a search cost function comprises distance cost and direction cost, and then the path information is fed back to the central scheduling module after the global optimal path is planned;
in the step (3), the specific process of the mobile terminal for local path planning is as follows: the central scheduling module sends the local target points arranged on the global path to the local path planning module; when an obstacle appears on a preset path, starting a local path planning task by a local path planning module, receiving the position and attitude information and the environment information of the wheelchair bed in real time by the local path planning module, and solving the linear velocity and angular velocity, the driving direction, the linear acceleration and the angular acceleration of the next node wheelchair bed in real time by combining the motion model, the speed limit, the acceleration and deceleration performance and the safety threshold of the wheelchair bed to form a local path; then the control signal resolving module resolves the control signal of the bottom layer device of the wheelchair bed according to the result of the local path planning, and then sends the control signal to the controller through the communication module.
10. The navigation and obstacle avoidance method for the intelligent wheelchair bed as claimed in claim 8, wherein in the driving process of the wheelchair bed, the man-machine interaction terminal displays the current position of the wheelchair bed, and the distance and the remaining distance traveled by the current journey in real time; if a user or a guardian inputs new destination information in the driving process, the navigation and obstacle avoidance system of the wheelchair bed needs to perform path planning again and drive the wheelchair bed to drive.
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