CN102631265A - Embedded control system of intelligent wheelchair - Google Patents

Embedded control system of intelligent wheelchair Download PDF

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Publication number
CN102631265A
CN102631265A CN2012101457725A CN201210145772A CN102631265A CN 102631265 A CN102631265 A CN 102631265A CN 2012101457725 A CN2012101457725 A CN 2012101457725A CN 201210145772 A CN201210145772 A CN 201210145772A CN 102631265 A CN102631265 A CN 102631265A
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wheel chair
intelligent wheel
voice
dsp processor
module
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CN102631265B (en
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李新科
高潮
郭永彩
林晓钢
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Chongqing University
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Chongqing University
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Abstract

The invention provides an embedded control system of an intelligent wheelchair, which mainly comprises a dual core processor module, a wheelchair drive module, a distance detection and acquisition module, a voice acquisition module and a voice command database module, wherein the dual core processor module comprises a digital signal processor (DSP) processor and an advanced risc machines (ARM) processor which are in mutual data connection; and the system is configured by using the dual core processor module as a system core, a user can control the intelligent wheelchair through natural language, so the natural man-machine interaction between the user and the intelligent wheelchair is realized, in addition, the distance between the intelligent wheelchair and obstacles in the environment surrounding the intelligent wheelchair can be automatically detected and obstacle warning can be simultaneously sent out, meanwhile, the travelling direction and speed of the intelligent wheelchair can be automatically adjusted according to the distance information and early warning information, the occurrence of accidents due to the collision with the obstacles and the like are reduced, the intelligent level and safety of the intelligent wheelchair are improved, and the embedded control system has low control difficulty, is very convenient to use, and is particularly suitable to be used by the old and the disabled.

Description

A kind of embedded control system of intelligent wheel chair
Technical field
The present invention relates to automatization's wheelchair technology and embedded Control technical field, be specifically related to a kind of embedded control system of intelligent wheel chair.
Background technology
Quickening along with world population aging process; Because the disabled's that disaster and disease cause increase; How letting the elderly and the disabled regain independent active ability is a scientific and technical problem demanding prompt solution, and wheelchair is as one of main vehicles of the elderly and the disabled.At present comparatively common have manual wheelchair and an electric wheelchair, and electric wheelchair is compared manual wheelchair, has improved independent active ability of the elderly and the disabled and scope greatly, but has also brought inconvenience and the danger of in some environment, using simultaneously.Because the prior electric wheelchair is realized manual operation control with manual manipulation TIP (for example operational and controlled key button, control lever etc.) usually; Therefore its to control difficulty bigger; Control because of user probably and lack experience that to let electric wheelchair go too fast, and then cause to turn and accident such as turn on one's side, knock down; In addition,, when the manual manipulation electric wheelchair, also touch still undiscovered barrier etc. easily, cause unexpected because user receives the influence of field range restriction.
Summary of the invention
The problems referred to above to the prior art existence; The present invention provides a kind of embedded control system of intelligent wheel chair; To improve the intelligent level of wheelchair control system; Make things convenient for the control of user, reduce manipulation request, solve the problem that difficulty is big, be prone to initiation potential of controlling of existing electric wheelchair existence user to wheelchair.
For realizing above-mentioned purpose, the present invention has adopted following technological means:
A kind of embedded control system of intelligent wheel chair comprises dual core processor module, wheelchair driver module, apart from acquisition module, voice acquisition module and voice password data library module; Said dual core processor module comprises dsp processor and the arm processor that mutual data connect;
Said wheelchair driver module carries out data with arm processor and is connected, and the control signal that is used for sending according to arm processor drives intelligent wheel chair;
Saidly carry out data apart from acquisition module and dsp processor and be connected; The range information that is used for gathering between intelligent wheel chair and its environment barrier of living in is sent to dsp processor, and to dsp processor sends obstruction forewarning signal during barrier near it in the environment of living in when intelligent wheel chair;
Said voice acquisition module is used to gather the voice of user, and converts voice digital signal into and be sent to dsp processor;
Said voice password data library module carries out data with dsp processor and is connected, and is used to store the corresponding relation that goes between its corresponding operation password of the operational order voice signal;
Whether the voice digital signal that said dsp processor is used for discerning from voice acquisition module is the operation password voice signal that voice password data library module is stored, and the operation password voice signal that will identify converts the instruction of corresponding mobility operation into and is sent to arm processor; Dsp processor also carries out integrated treatment to range information, the obstruction forewarning signal between the barrier in intelligent wheel chair and its environment of living in real time, obtains the travel direction adjustment information and the travel speed adjustment information is sent to arm processor;
Said arm processor is used for that the mobility operation instruction, travel direction adjustment information and the travel speed adjustment information that receive are treated to corresponding control signal in real time and is sent to the wheelchair driver module.
In the embedded control system of above-mentioned intelligent wheel chair, particularly, said wheelchair driver module mainly is made up of the motor and the electric machine controller of mutual electrical connection; Said electric machine controller carries out data with arm processor and is connected, and is used for the control signal control motor operation of sending according to arm processor; Said motor is used to drive the driving wheel rotation of intelligent wheel chair, and then drives intelligent wheel chair.
In the embedded control system of above-mentioned intelligent wheel chair, particularly, said voice acquisition module mainly is made up of mike and audio coder; Said mike is used to gather the voice of user; Said audio coder carries out data with dsp processor and is connected, and the speech conversion that is used for the user of gathering is that voice digital signal is sent to dsp processor.
In the embedded control system of above-mentioned intelligent wheel chair, particularly, said apart from acquisition module mainly by carrying out sonac that data are connected with dsp processor respectively and constituting near switch; The range information that said sonac is used for gathering between intelligent wheel chair and its environment barrier of living in is sent to dsp processor; Saidly be used for when can wheelchair sending the obstruction forewarning signal to dsp processor during near its environment barrier of living near switch.
In the embedded control system of above-mentioned intelligent wheel chair, as further improvement project, this system also comprises pose detection module, shooting acquisition module and environment information database module;
Said pose detection module carries out data with dsp processor and is connected, and the posture information that is used to gather intelligent wheel chair is sent to dsp processor;
Said shooting acquisition module carries out data with dsp processor and is connected, and the video image information that is used to gather intelligent wheel chair environment of living in is sent to dsp processor;
Said environment information database module is carried out data with dsp processor and is connected, and is used for storing azimuth information and range information and characteristic object reference picture between goal-selling position, characteristic body body position, goal-selling position and the characteristic body body position of intelligent wheel chair environment of living in;
Said voice password data library module also is used for storing the corresponding relation between its corresponding position, the goal-selling position password voice signal of intelligent wheel chair environment of living in;
Whether the voice digital signal that said dsp processor also is used for discerning from voice acquisition module is the position password voice signal that voice password data library module is stored; With the corresponding goal-selling of the password voice signal position of identifying, position as the intended target position; And mate from the video image information of intelligent wheel chair environment of living in according to the characteristic object reference picture of storing in the environment information database module and to identify the characteristic object; And then confirm the azimuth information between intelligent wheel chair and the characteristic object according to the characteristic body body position in the intelligent wheel chair environment of living in; Again azimuth information between posture information, intelligent wheel chair and the characteristic object of intelligent wheel chair and azimuth information and the range information between goal-selling position and the characteristic body body position are carried out integrated treatment; Obtain intelligent wheel chair and go, and the mobility operation instruction that generation and said routing information are complementary is sent to arm processor to the routing information of stating the intended target position.
In the embedded control system of above-mentioned intelligent wheel chair, particularly, said pose detection module mainly constitutes by carrying out obliquity sensor and gyroscope that data communication is connected with dsp processor respectively; Said obliquity sensor is used to detect the angle-data that intelligent wheel chair departs from vertical direction and is sent to dsp processor; The angular velocity data that said gyroscope is used to detect intelligent wheel chair is sent to dsp processor.
In the embedded control system of above-mentioned intelligent wheel chair, particularly, ccd sensor and video encoder that said shooting acquisition module is mainly connected by mutual data; Said ccd sensor is used to gather the image of intelligent wheel chair environment of living in; Said video encoder carries out data with dsp processor and is connected, and the image transitions that is used for the intelligent wheel chair environment of gathering of living in is that video image information is sent to dsp processor.
With respect to prior art, the present invention has following advantage:
1, the embedded control system of intelligent wheel chair of the present invention; Can let user pass through natural language and realize the control to intelligent wheel chair, it is low to control difficulty, has realized the natural human-machine interaction between user and the intelligent wheel chair; Very easy to use, be particularly suitable for the elderly and the disabled and use.
2, the embedded control system of intelligent wheel chair of the present invention; Can detect in intelligent wheel chair and its environment of living in distance between the barrier automatically and carry out obstruction forewarning; While is adjusted the travel direction and the travel speed of intelligent wheel chair automatically according to these range informations and early warning information; Reduce unexpected generations the such as touching barrier, improved the intelligent level and the security performance of intelligent wheel chair.
3, the improvement project of the embedded control system of intelligent wheel chair of the present invention; Can also confirm that user expects the intended target position that reaches according to the direct voice of user; And automatically handle and obtain intelligent wheel chair and go to the routing information of stating the intended target position; And then control intelligent wheel chair and go to stating the intended target position, further improved the ease for operation and the intelligent level of intelligent wheel chair.
4, the embedded control system of intelligent wheel chair of the present invention makes up as the system core by the dual core processor module, when guaranteeing to possess better controlling performance and scalability, also helps to reduce system cost, helps promoting the use of.
Description of drawings
Fig. 1 is the system architecture block diagram of the embedded control system of intelligent wheel chair of the present invention.
Fig. 2 is the system architecture block diagram of the embedded control system improvement project of intelligent wheel chair of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is done further explain.
The system architecture of the embedded control system of intelligent wheel chair of the present invention is as shown in Figure 1, comprises dual core processor module, wheelchair driver module, apart from acquisition module, voice acquisition module and voice password data library module; Said dual core processor module comprises dsp processor and the arm processor that mutual data connect; The wheelchair driver module carries out data with arm processor and is connected, and the control signal that is used for sending according to arm processor drives intelligent wheel chair; Carrying out data apart from acquisition module and dsp processor is connected; The range information that is used for gathering between intelligent wheel chair and its environment barrier of living in is sent to dsp processor, and to dsp processor sends obstruction forewarning signal during barrier near it in the environment of living in when intelligent wheel chair; Voice acquisition module is used to gather the voice of user, and converts voice digital signal into and be sent to dsp processor; Voice password data library module carries out data with dsp processor and is connected, and is used to store the corresponding relation that goes between its corresponding operation password of the operational order voice signal; Whether the voice digital signal that dsp processor is used for discerning from voice acquisition module is the operation password voice signal that voice password data library module is stored, and the operation password voice signal that will identify converts the instruction of corresponding mobility operation into and is sent to arm processor; Dsp processor also carries out integrated treatment to range information, the obstruction forewarning signal between the barrier in intelligent wheel chair and its environment of living in real time, obtains the travel direction adjustment information and the travel speed adjustment information is sent to arm processor; Arm processor is used for that the mobility operation instruction, travel direction adjustment information and the travel speed adjustment information that receive are treated to corresponding control signal in real time and is sent to the wheelchair driver module.In the embedded control system practical application of intelligent wheel chair of the present invention; Particularly; Dsp processor and arm processor can adopt matured product commonly used, and for example, dsp processor can adopt the TMS320DM642 chip of TI company; Arm processor can adopt the S3C2440 chip of Samsung, or the like; Dsp processor and arm processor guarantee high-speed data transmission as far as possible, to improve the handling property of entire system.Certainly, arm processor can also be used to carry out some other system's operation, for example conventional embedded system bookkeeping such as power management, time slot control, task scheduling, fault detect, log management except the control treatment of carrying out wheelchair and driving; And the manual manipulation input module (for example operational and controlled key button, control lever etc.) that intelligent wheel chair embedded control system of the present invention also can combine to use in the existing electric wheelchair with show output module (for example LCDs etc.), control to the management control of manual manipulation input module and to the demonstration that shows output module and also can accomplish by arm processor.The wheelchair driver module mainly is made up of the motor and the electric machine controller of mutual electrical connection; State electric machine controller and carry out data with arm processor and be connected, be used for the control signal control motor operation of sending according to arm processor; Motor is used to drive the driving wheel rotation of intelligent wheel chair, and then drives intelligent wheel chair; As for motor control to intelligent wheel chair, mainly be its angular velocity of control and linear velocity, the former accomplishes the control that turns to of intelligent wheel chair, and the latter realizes the control of its pace.Voice acquisition module mainly is made up of mike and audio coder; Mike is used to gather the voice of user; Audio coder carries out data with dsp processor and is connected, and the speech conversion that is used for the user of gathering is that voice digital signal is sent to dsp processor.Apart from acquisition module mainly by carrying out sonac that data are connected with dsp processor respectively and constituting near switch; The range information that sonac is used for gathering between intelligent wheel chair and its environment barrier of living in is sent to dsp processor; Be used for when can wheelchair sending the obstruction forewarning signal to dsp processor during near its environment barrier of living near switch.Voice password data library module then can adopt memory device commonly used, for example SDRAM memorizer, FLASH memorizer etc.The embedded control system of intelligent wheel chair of the present invention makes up as the system core by the dual core processor module, when guaranteeing to possess better controlling performance and scalability, also helps to reduce system cost, helps promoting the use of.
The work process of intelligent wheel chair is: set up mobility operation in advance and instruct the corresponding relation between its corresponding operation password voice signal, and be stored in the voice password data library module; These operation password voice signals also are the voice digital signals of natural language; And it is corresponding with the implication of mobility operation instruction; For example will " advance ", the voice digital signal of language vocabularies such as " retreating ", " left-hand rotation ", " right-hand rotation ", " stopping " being as operation password voice signal, with as voice-operated instruction identification basis; When user uses; Directly engage in the dialogue through natural language and intelligent wheel chair; For example say arbitrary vocabulary such as " advancing ", " retreating ", " left-hand rotation ", " right-hand rotation ", " stopping "; Voice acquisition module is then gathered the voice of user, by dsp processor the voice digital signal of its collection is discerned again, then converts corresponding mobility operation instruction into and is sent to arm processor if identify operation password voice signal; Is that corresponding control signal is sent to the wheelchair driver module by arm processor with the mobility operation instruction process that receives, and drives intelligent wheel chair operation corresponding action; Meanwhile; Apart from acquisition module also in gathering intelligent wheel chair and its environment of living in range information between the barrier be sent to dsp processor; Dsp processor carries out integrated treatment to range information, the obstruction forewarning signal between the barrier in intelligent wheel chair and its environment of living in real time; Obtain the travel direction adjustment information and the travel speed adjustment information is sent to arm processor; Arm processor then is treated to corresponding control signal in real time with the travel direction adjustment information that receives and travel speed adjustment information and is sent to the wheelchair driver module, drives intelligent wheel chair adjustment travel direction and travel speed, dodges barrier automatically; Reduce unexpected generations the such as touching barrier, thereby improve the automatization level and the security performance of intelligent wheel chair operation.Voice digital signal related in the embedded control system of intelligent wheel chair of the present invention is discerned; Can have much by the ripe speech recognition algorithm of realizing in the prior art; (the most frequently used mathematical model is a hidden Markov model in the speech recognition normally to carry out mathematical modeling through the voice digital signal to operation password voice signal and collection; Be the HMM model), discern through the Model Matching computing then.In addition, each item processing capacity of dsp processor and arm processor in the system also can realize through existing embedded programming technology.
Can see that by above-mentioned work process the embedded control system of intelligent wheel chair of the present invention can let user pass through natural language and realize the control to intelligent wheel chair; Realized the natural human-machine interaction between user and the intelligent wheel chair; And can adjust the travel direction and the travel speed of intelligent wheel chair automatically, need not user according to controlling the intervention that experience is carried out travel direction and travel speed, it is low to control difficulty; Very easy to use, be particularly suitable for the elderly and the disabled and use.
In addition, the present invention gives the improvement project of the embedded control system that an intelligent wheel chair is provided, and is as shown in Figure 2, on the basis of said system framework, also comprises pose detection module, shooting acquisition module and environment information database module in the system; The pose detection module carries out data with dsp processor and is connected, and the posture information that is used to gather intelligent wheel chair is sent to dsp processor; The shooting acquisition module carries out data with dsp processor and is connected, and the video image information that is used to gather intelligent wheel chair environment of living in is sent to dsp processor; The environment information database module is carried out data with dsp processor and is connected, and is used for storing azimuth information and range information and characteristic object reference picture between goal-selling position, characteristic body body position, goal-selling position and the characteristic body body position of intelligent wheel chair environment of living in; Voice password data library module also is used for storing the corresponding relation between its corresponding position, the goal-selling position password voice signal of intelligent wheel chair environment of living in; Correspondingly; Dsp processor is outside being used to realize that aforesaid processing is operated; Whether the voice digital signal that also is used for discerning from voice acquisition module is the position password voice signal that voice password data library module is stored; With the corresponding goal-selling of the password voice signal position of identifying, position as the intended target position; And mate from the video image information of intelligent wheel chair environment of living in according to the characteristic object reference picture of storing in the environment information database module and to identify the characteristic object; And then confirm the azimuth information between intelligent wheel chair and the characteristic object according to the characteristic body body position in the intelligent wheel chair environment of living in; Again azimuth information between posture information, intelligent wheel chair and the characteristic object of intelligent wheel chair and azimuth information and the range information between goal-selling position and the characteristic body body position are carried out integrated treatment; Obtaining intelligent wheel chair goes to the routing information of stating the intended target position; And the mobility operation instruction that generation and said routing information are complementary is sent to arm processor, and arm processor is treated to corresponding control signal in real time with the mobility operation instruction, travel direction adjustment information and the travel speed adjustment information that receive again and is sent to the wheelchair driver module.In the embedded control system practical application of intelligent wheel chair of the present invention, particularly, the pose detection module mainly constitutes by carrying out obliquity sensor and gyroscope that data communication is connected with dsp processor respectively; Obliquity sensor is used to detect the angle-data that intelligent wheel chair departs from vertical direction and is sent to dsp processor; The angular velocity data that gyroscope is used to detect intelligent wheel chair is sent to dsp processor.Ccd sensor and video encoder that the shooting acquisition module is mainly connected by mutual data; Ccd sensor is used to gather the image of intelligent wheel chair environment of living in; Video encoder carries out data with dsp processor and is connected, and the image transitions that is used for the intelligent wheel chair environment of gathering of living in is that video image information is sent to dsp processor.The environment information database module also can adopt memory device commonly used.The concrete realization of other module is identical with aforementioned content.
The work process that intelligent wheel chair carries out automated path control is: obtain azimuth information and range information and characteristic object reference picture between goal-selling position, characteristic body body position, goal-selling position and the characteristic body body position in the intelligent wheel chair environment of living in advance, and be stored in the environment information database module; Is example with the one family environment as intelligent wheel chair environment of living in; For example can be with positions such as " entrance " in the family, " window limit ", " balconies " as the goal-selling position; With " desk ", " sofa ", " mural painting " etc. as the characteristic object; The azimuth information and the range information that obtain between these goal-selling positions and the characteristic body body position deposit the environment information database module in, and the digital picture of characteristic objects such as collection " desk ", " sofa ", " mural painting " deposits the environment information database module in as characteristic object reference picture in advance; In addition, also to set up the corresponding relation between its corresponding position, the goal-selling position password voice signal in the intelligent wheel chair environment of living in advance, be stored in the voice password data library module; These position password voice signals also are the voice digital signals of natural language; And it is corresponding with the title of goal-selling position; For example with the voice digital signal of language vocabularies such as " entrance ", " window limit ", " balcony " as position password voice signal, with as voice-operated intended target location recognition basis; When user uses; Directly engage in the dialogue through natural language and intelligent wheel chair; Control the relative words except saying aforesaid " advancing ", " retreating ", " left-hand rotation ", " right-hand rotation ", " stopping " etc.; Can also say arbitrary position relative words such as " entrance ", " window limit ", " balcony ", voice acquisition module is then gathered the voice of user, by dsp processor the voice digital signal of its collection is discerned again; If identify operation password voice signal, then handle by aforesaid mobility operation control treatment process; If identify position password voice signal; Dsp processor then with the corresponding goal-selling of the password voice signal position of identifying, position as the intended target position; And mate from the video image information of intelligent wheel chair environment of living in according to the characteristic object reference picture of storing in the environment information database module and to identify the characteristic object; And then confirm the azimuth information between intelligent wheel chair and the characteristic object according to the characteristic body body position in the intelligent wheel chair environment of living in; Again azimuth information between posture information, intelligent wheel chair and the characteristic object of intelligent wheel chair and azimuth information and the range information between goal-selling position and the characteristic body body position are carried out integrated treatment; Obtaining intelligent wheel chair goes to the routing information of stating the intended target position; And the mobility operation instruction that generation and said routing information are complementary is sent to arm processor, is that corresponding control signal is sent to the wheelchair driver module by arm processor with the mobility operation instruction process that receives, and drives intelligent wheel chair operation corresponding action; Meanwhile; Apart from acquisition module work also as usual; Range information in collection intelligent wheel chair and its environment of living between the barrier is sent to dsp processor; Dsp processor carries out integrated treatment to range information, the obstruction forewarning signal between the barrier in intelligent wheel chair and its environment of living in real time; Obtain the travel direction adjustment information and the travel speed adjustment information is sent to arm processor; Arm processor then is treated to corresponding control signal in real time with the travel direction adjustment information that receives and travel speed adjustment information and is sent to the wheelchair driver module, drives intelligent wheel chair adjustment travel direction and travel speed, lets intelligent wheel chair go and to the process of stating the intended target position, dodges barrier automatically.Related characteristic object identification in the embedded control system of intelligent wheel chair of the present invention can utilize that sophisticated images match recognition technology is achieved in the prior art; And the intelligent wheel chair that relates in the system goes to the routing information of stating the intended target position and obtains; Also can utilize existing path planning technology to be achieved; But the algorithm of path planning commonly used much mainly contains Artificial Potential Field method, free space method, environmental map method sight method, genetic algorithm, ant group algorithm or the like; The path planning technology is used also very extensive in the Robot Control Technology field, belong to existing mature technology.
The embedded control system of the intelligent wheel chair of this improvement project; Can confirm that user expects the intended target position that reaches according to the direct voice of user; And automatically handle and obtain intelligent wheel chair and go to the routing information of stating the intended target position; And then control intelligent wheel chair and go to stating the intended target position, further improved the ease for operation and the intelligent level of intelligent wheel chair.
Explanation is at last; Above embodiment is only unrestricted in order to technical scheme of the present invention to be described; Although with reference to embodiment the present invention is specified, those of ordinary skill in the art should be appreciated that and can make amendment or be equal to replacement technical scheme of the present invention; And not breaking away from the aim and the scope of technical scheme of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.

Claims (7)

1. the embedded control system of an intelligent wheel chair is characterized in that, comprises dual core processor module, wheelchair driver module, apart from acquisition module, voice acquisition module and voice password data library module; Said dual core processor module comprises dsp processor and the arm processor that mutual data connect;
Said wheelchair driver module carries out data with arm processor and is connected, and the control signal that is used for sending according to arm processor drives intelligent wheel chair;
Saidly carry out data apart from acquisition module and dsp processor and be connected; The range information that is used for gathering between intelligent wheel chair and its environment barrier of living in is sent to dsp processor, and to dsp processor sends obstruction forewarning signal during barrier near it in the environment of living in when intelligent wheel chair;
Said voice acquisition module is used to gather the voice of user, and converts voice digital signal into and be sent to dsp processor;
Said voice password data library module carries out data with dsp processor and is connected, and is used to store the corresponding relation that goes between its corresponding operation password of the operational order voice signal;
Whether the voice digital signal that said dsp processor is used for discerning from voice acquisition module is the operation password voice signal that voice password data library module is stored, and the operation password voice signal that will identify converts the instruction of corresponding mobility operation into and is sent to arm processor; Dsp processor also carries out integrated treatment to range information, the obstruction forewarning signal between the barrier in intelligent wheel chair and its environment of living in real time, obtains the travel direction adjustment information and the travel speed adjustment information is sent to arm processor;
Said arm processor is used for that the mobility operation instruction, travel direction adjustment information and the travel speed adjustment information that receive are treated to corresponding control signal in real time and is sent to the wheelchair driver module.
2. the embedded control system of intelligent wheel chair according to claim 1 is characterized in that, said wheelchair driver module mainly is made up of the motor and the electric machine controller of mutual electrical connection; Said electric machine controller carries out data with arm processor and is connected, and is used for the control signal control motor operation of sending according to arm processor; Said motor is used to drive the driving wheel rotation of intelligent wheel chair, and then drives intelligent wheel chair.
3. the embedded control system of intelligent wheel chair according to claim 1 is characterized in that, said voice acquisition module mainly is made up of mike and audio coder; Said mike is used to gather the voice of user; Said audio coder carries out data with dsp processor and is connected, and the speech conversion that is used for the user of gathering is that voice digital signal is sent to dsp processor.
4. the embedded control system of intelligent wheel chair according to claim 1 is characterized in that, said apart from acquisition module mainly by carrying out sonac that data are connected with dsp processor respectively and constituting near switch; The range information that said sonac is used for gathering between intelligent wheel chair and its environment barrier of living in is sent to dsp processor; Saidly be used for when can wheelchair sending the obstruction forewarning signal to dsp processor during near its environment barrier of living near switch.
5. the embedded control system of intelligent wheel chair according to claim 1 is characterized in that, this system also comprises pose detection module, shooting acquisition module and environment information database module;
Said pose detection module carries out data with dsp processor and is connected, and the posture information that is used to gather intelligent wheel chair is sent to dsp processor;
Said shooting acquisition module carries out data with dsp processor and is connected, and the video image information that is used to gather intelligent wheel chair environment of living in is sent to dsp processor;
Said environment information database module is carried out data with dsp processor and is connected, and is used for storing azimuth information and range information and characteristic object reference picture between goal-selling position, characteristic body body position, goal-selling position and the characteristic body body position of intelligent wheel chair environment of living in;
Said voice password data library module also is used for storing the corresponding relation between its corresponding position, the goal-selling position password voice signal of intelligent wheel chair environment of living in;
Whether the voice digital signal that said dsp processor also is used for discerning from voice acquisition module is the position password voice signal that voice password data library module is stored; With the corresponding goal-selling of the password voice signal position of identifying, position as the intended target position; And mate from the video image information of intelligent wheel chair environment of living in according to the characteristic object reference picture of storing in the environment information database module and to identify the characteristic object; And then confirm the azimuth information between intelligent wheel chair and the characteristic object according to the characteristic body body position in the intelligent wheel chair environment of living in; Again azimuth information between posture information, intelligent wheel chair and the characteristic object of intelligent wheel chair and azimuth information and the range information between goal-selling position and the characteristic body body position are carried out integrated treatment; Obtain intelligent wheel chair and go, and the mobility operation instruction that generation and said routing information are complementary is sent to arm processor to the routing information of stating the intended target position.
6. the embedded control system of intelligent wheel chair according to claim 5 is characterized in that, said pose detection module mainly constitutes by carrying out obliquity sensor and gyroscope that data communication is connected with dsp processor respectively; Said obliquity sensor is used to detect the angle-data that intelligent wheel chair departs from vertical direction and is sent to dsp processor; The angular velocity data that said gyroscope is used to detect intelligent wheel chair is sent to dsp processor.
7. the embedded control system of intelligent wheel chair according to claim 5 is characterized in that, ccd sensor and video encoder that said shooting acquisition module is mainly connected by mutual data; Said ccd sensor is used to gather the image of intelligent wheel chair environment of living in; Said video encoder carries out data with dsp processor and is connected, and the image transitions that is used for the intelligent wheel chair environment of gathering of living in is that video image information is sent to dsp processor.
CN201210145772.5A 2012-05-11 2012-05-11 Embedded control system of intelligent wheelchair Expired - Fee Related CN102631265B (en)

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CN105455979A (en) * 2015-11-20 2016-04-06 合肥工业大学 Control system and method of intelligent wheelchair
CN105596157A (en) * 2016-01-22 2016-05-25 江苏科凌医疗器械有限公司 Multifunctional wheel chair
CN107203211A (en) * 2017-06-19 2017-09-26 上海名护机器人有限公司 A kind of method of robot interactive motion
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WO2018133077A1 (en) * 2017-01-22 2018-07-26 四川金瑞麒智能科学技术有限公司 Environmental information acquisition and feedback system and method for intelligent wheelchair
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CN109875777A (en) * 2019-02-19 2019-06-14 西安科技大学 It is a kind of with the wheelchair for taking object function and its to take object control method
WO2019127261A1 (en) * 2017-12-28 2019-07-04 四川金瑞麒智能科学技术有限公司 Method for automatic driving of smart wheelchair, system and computer readable medium
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WO2018133075A1 (en) * 2017-01-22 2018-07-26 四川金瑞麒智能科学技术有限公司 Intelligent wheelchair system having medical monitoring and response function
CN109906069A (en) * 2017-01-22 2019-06-18 四川金瑞麒智能科学技术有限公司 A kind of intelligent wheelchair system with medical monitoring and response function
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CN107349078A (en) * 2017-07-13 2017-11-17 侯苏 The operating chair and method of intelligent control system are installed
CN107468437A (en) * 2017-07-18 2017-12-15 常英梅 Slope climbing type extended pattern wheelchair
CN107544302A (en) * 2017-08-31 2018-01-05 苏州诺乐智能科技有限公司 A kind of mobility scooter for old people controller
CN111511334B (en) * 2017-12-22 2022-06-24 松下电器产业株式会社 Mobile vehicle
CN111511334A (en) * 2017-12-22 2020-08-07 松下电器产业株式会社 Mobile vehicle
CN111542295A (en) * 2017-12-28 2020-08-14 四川金瑞麒智能科学技术有限公司 Automatic driving method and system for intelligent wheelchair and computer readable medium
WO2019127261A1 (en) * 2017-12-28 2019-07-04 四川金瑞麒智能科学技术有限公司 Method for automatic driving of smart wheelchair, system and computer readable medium
CN108839061A (en) * 2018-05-31 2018-11-20 芜湖星途机器人科技有限公司 Auto-navigation robot
CN109875777A (en) * 2019-02-19 2019-06-14 西安科技大学 It is a kind of with the wheelchair for taking object function and its to take object control method
CN111839925A (en) * 2019-04-30 2020-10-30 苏州我宏网络科技有限公司 Intelligent wheelchair control system
CN110286609A (en) * 2019-06-11 2019-09-27 唐文 A kind of avoidance obstacle method and device of intelligent safety helmet
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