CN105250085A - Automatic obstacle avoidance control system of electric wheelchair - Google Patents
Automatic obstacle avoidance control system of electric wheelchair Download PDFInfo
- Publication number
- CN105250085A CN105250085A CN201510732185.XA CN201510732185A CN105250085A CN 105250085 A CN105250085 A CN 105250085A CN 201510732185 A CN201510732185 A CN 201510732185A CN 105250085 A CN105250085 A CN 105250085A
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- obstacle avoidance
- controller
- roadblock
- module
- wheelchair
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- 230000005540 biological transmission Effects 0.000 claims abstract description 31
- 238000004891 communication Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000003313 weakening effect Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/047—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven by a modular detachable drive system
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
- A61G2203/72—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides an automatic obstacle avoidance control system of an electric wheelchair. The automatic obstacle avoidance control system comprises a handspike controller, an automatic obstacle avoidance module and a wheelchair drive control module, wherein the handspike controller and the automatic obstacle avoidance module are connected through a first transmission module; the automatic obstacle avoidance module and the wheelchair drive control module are connected through a second transmission module; the automatic obstacle avoidance module comprises a ground sensor, a roadblock judging device and an obstacle avoidance controller; the wheelchair drive control module comprises a drive motor and an electric controller. According to the automatic obstacle avoidance control system of the electric wheelchair provided by the invention, automatic obstacle avoidance can be achieved without control, autonomous driving can be achieved, the cooperative work capacity of manual operation and intelligent automatic control is achieved, and the safety of users can be effectively guaranteed.
Description
Technical Field
The invention relates to the field of control systems, in particular to an automatic obstacle avoidance control system of an electric wheelchair.
Background
With the accelerating aging process of social population, the number of the aged population is increasing, and the number of the disabled people is increasing due to various diseases, traffic accidents and other reasons, the provision of a transportation tool for the aged and the disabled people has become one of the important concerns of the whole society. Along with the improvement of the quality of life, the condition of the wheelchair for the old is more and more common, the wheelchair electrically solves the problem that the old does not have physical power to push the wheelchair to advance, but the existing electric wheelchairs in the market at present mostly drive the motor vehicle by a hand lever and need manual operation, and meanwhile, because the operation is sensitive, the indoor electric wheelchair can be collided by carelessness slightly, and the practical use is inconvenient.
At present, electrically-driven wheelchairs with manual control functions appear in markets at home and abroad, but the electrically-driven wheelchairs all finish advancing and obstacle avoidance under the manual control of users, and once the users make misjudgments due to physical discomfort, the electrically-driven wheelchairs are bound to fall or collide; meanwhile, because the control difficulty is high, the electric wheelchair is likely to run too fast due to insufficient control experience of a user, so that accidents such as turning, side turning, collision obstacle and the like are caused, and the accidents cause great damage to the user.
Disclosure of Invention
In order to solve the problems, the invention aims to design an automatic obstacle avoidance control system of an electric wheelchair, which can complete full-automatic obstacle avoidance without control, can drive autonomously, has cooperative working capability of manual operation and intelligent automatic control, and can effectively guarantee the safety of a user.
The invention is implemented by the following technical scheme:
an automatic obstacle avoidance control system of an electric wheelchair comprises a hand lever manipulator, an automatic obstacle avoidance module and a wheelchair drive control module, wherein the hand lever manipulator is connected with the automatic obstacle avoidance module through a first transmission module; wherein,
the hand lever manipulator is used for manual operation;
the automatic obstacle avoidance module comprises a road surface sensor, an obstacle judger and an obstacle avoidance controller, wherein the road surface sensor is used for detecting road surface information and transmitting the road surface information to the obstacle judger; the roadblock judger is used for analyzing and judging whether the road information is a roadblock or not, generating pulse digital signals and transmitting the pulse digital signals to the obstacle avoidance controller; the obstacle avoidance controller performs control operation according to the pulse digital signal;
the wheelchair driving control module comprises a driving motor for driving the wheelchair and an electric controller for controlling the driving motor.
Further, the electric controller is a PWM controller.
Further, the road surface sensor is an infrared sensor or an ultrasonic sensor.
Furthermore, the obstacle avoidance controller comprises an obstacle avoidance control unit and a switch module for controlling the first transmission module and the second transmission module to be in communication connection or separated.
Further, the control operation of the obstacle avoidance controller according to the pulse digital signal of the invention includes:
when the roadblock judger analyzes and judges that the roadblock is not a roadblock, the obstacle avoidance controller controls the second transmission module to open according to the pulse digital signal, and the second transmission module transmits the control signal of the hand lever controller to the wheelchair driving control module to perform normal manual operation;
when the roadblock judger analyzes and judges as the roadblock, the obstacle avoidance controller controls the second transmission module to be closed according to the pulse digital signal, and the second transmission module prevents the control signal of the hand lever controller from reaching the wheelchair drive control module to carry out obstacle avoidance operation.
Further, the driving motor is a dual-driver motor.
The invention also provides an electric wheelchair, which comprises a vehicle body, a storage battery and an automatic obstacle avoidance control system arranged in the vehicle body.
Drawings
Embodiments of the invention are further described below with reference to the accompanying drawings, in which:
FIG. 1 is a block diagram of an automatic obstacle avoidance control system of an electric wheelchair according to the present invention;
fig. 2 is a block diagram of an obstacle avoidance controller of the automatic obstacle avoidance control system of the electric wheelchair of the invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
The invention provides an automatic obstacle avoidance control system of an electric wheelchair, please refer to fig. 1, which is a block diagram of the automatic obstacle avoidance control system of the electric wheelchair, and comprises a hand lever controller, an automatic obstacle avoidance module and a wheelchair drive control module, wherein the hand lever controller is connected with the automatic obstacle avoidance module through a first transmission module, and the automatic obstacle avoidance module is connected with the wheelchair drive control module through a second transmission module; wherein the hand lever manipulator is used for manual operation; the automatic obstacle avoidance module comprises a road surface sensor, an obstacle judger and an obstacle avoidance controller, wherein the road surface sensor is used for detecting road surface information and transmitting the road surface information to the obstacle judger; the roadblock judger is used for analyzing and judging whether the road information is a roadblock or not, generating pulse digital signals and transmitting the pulse digital signals to the obstacle avoidance controller; the obstacle avoidance controller performs control operation according to the pulse digital signal; the wheelchair driving control module comprises a driving motor for driving the wheelchair and an electric controller for controlling the driving motor.
The hand lever controller is used for manual control operation, controls the hand lever for the Hall, controls different coordinate positions to send different pulse digital electric signals, sends the pulse digital electric signals to the obstacle avoidance controller, and is controlled by the obstacle avoidance controller to enable the electric controller to control the vehicle body driving motor to operate.
The electric controller is a PWM controller, and the driving motor is a dual-driver motor.
The road sensors are arranged at the front and the back of the vehicle body and are infrared sensors or ultrasonic sensors; the road sensor transmits road information of the front and rear directions of the vehicle body, the roadblock judger judges whether the information is a roadblock according to the road information, if the information is the roadblock, the digital signal outputs roadblock distance information, and then the road information and the roadblock distance information are transmitted to the obstacle avoidance controller; please refer to fig. 2, which is a block diagram of an obstacle avoidance controller of an automatic obstacle avoidance control system of an electric wheelchair according to the present invention, wherein the obstacle avoidance controller includes an obstacle avoidance control unit and a switch module for controlling the communication connection or the isolation of the first transmission module and the second transmission module.
When the roadblock judger analyzes and judges that the roadblock is not a roadblock, the obstacle avoidance controller controls the second transmission module to open according to the pulse digital signal, and the second transmission module transmits the control signal of the hand lever controller to the wheelchair driving control module to perform normal manual operation;
when the roadblock judger analyzes and judges as the roadblock, the obstacle avoidance controller controls the second transmission module to be closed according to the pulse digital signal, and the second transmission module prevents the control signal of the hand lever controller from reaching the wheelchair drive control module to carry out obstacle avoidance operation.
The first transmission module is connected between the hand lever controller and the obstacle avoidance controller and is used for signal transmission communication of the hand lever controller; the second transmission module is connected with the control signal output end of the obstacle avoidance controller and communicates with the input end of the electric controller, and is a special transmission wire for the obstacle avoidance controller to transmit signals of the hand lever controller. The first transmission module and the second transmission module act to enable all control signals of the hand lever controller to be analyzed and judged through the obstacle avoidance controller, and after the obstacle avoidance control unit analyzes whether the control signals meet the obstacle distance signal weakening condition or not, the second transmission module is controlled to transmit the control signals through the switch module, so that the electric controller receives the control command; if the obstacle avoidance control unit analyzes that the control signal meets the obstacle distance signal enhancement condition (namely, an obstacle is encountered), the second transmission module stops transmitting the control signal, and the control signal is interrupted to enable the electric controller to stop electric control.
The obstacle avoidance controller comprises an obstacle avoidance control unit and a switch module. The control process of the obstacle avoidance controller is as follows:
when the roadblock judger judges that the information is not a roadblock, the obstacle avoidance control unit controls the switch module to be opened so that the hand lever control signal reaches the electric controller;
the roadblock judging device is used for transmitting roadblock signals, the roadblock signals are compared with the distance between the front and rear roadblocks through the obstacle avoidance control unit to judge the roadblock direction and the intensity change of the compared roadblock signals, and if the judgment signals are weakened, the obstacle avoidance control unit controls the switch module to be opened so that the hand lever control signals are transmitted to the electric controller;
the roadblock judging device is used for conveying roadblock signals, the roadblock signals are compared with the distance between the front and rear roadblocks through the obstacle avoidance control unit to judge the roadblock direction and the strength change of the compared roadblock signals, if the judgment signals are strengthened, the obstacle avoidance control unit controls the switch module to be closed within a limited time, the switch module is opened after the closing time is up, the comparison judgment roadblock direction and the strength change of the judged roadblock signals are calculated again after the switch module is opened, and then the judgment is carried out again until the roadblock signals disappear or become the strongest roadblock;
the roadblock judging device sends out a strongest roadblock signal, the obstacle avoidance control unit judges whether the roadblock is the strongest roadblock in a single direction or not through calculation and comparison, if so, the switch module is closed, then the information of the driving path controlled by the hand lever is analyzed according to the information of the signal controlled by the hand lever, then the information of the driving path controlled by the hand lever is compared and controlled to be the same as the information of the strongest roadblock transmitted by the roadblock judging device, if the path information is the same, the switch module is continuously controlled to be closed, and if the path information is different, the switch module is instructed to be opened;
the roadblock judger sends out a strongest roadblock signal, the obstacle avoidance control unit calculates, contrasts and judges the strongest roadblock belonging to the double-way roadblock, and at the moment, the obstacle avoidance control unit controls the switch module to be closed until the information of the roadblock judger changes the obstacle avoidance control unit to stop using.
The invention provides an automatic obstacle avoidance control system of an electric wheelchair, which comprises a wheelchair body, a storage battery electrically connected with the wheelchair body and an obstacle avoidance control system arranged in the wheelchair body, wherein the electric controller is a PWM (pulse width modulation) controller. The road surface sensor is an infrared sensor or an ultrasonic sensor. The driving motor is a dual-driver motor. The road sensors are arranged in the front and the back of the vehicle body, coordinate N and S position positions are recorded, and the obstacle avoidance controller can realize automatic obstacle avoidance of the front or the back obstacles of the vehicle body.
The road sensor detects the road surface, when the road barrier judger analyzes and judges that the road surface detection information of the road sensor is the road barrier information, the information is processed into a pulse digital signal, different road barrier distances are processed into different pulse signals, the pulse signal which is the largest and is away from the nearest road barrier, an electric signal is sent to the electric controller after the processing, and each signal is sent to the road barrier according to the N or S direction, when the road sensor detects that an obstacle object exists at the front and rear parts of the vehicle body, the road barrier judger processes the N or S direction detection information into different pulse signals for displaying different road barrier distances, the signal is continuously sent out, and the road barrier judger judges that the front or rear road barrier of the vehicle body and the road barrier distance signal are displayed and then transmitted to the obstacle avoidance controller.
When the obstacle avoidance controller does not receive the obstacle judging device obstacle pulse signal, the obstacle avoidance controller switch module is in an open state, so that the control information of the hand lever controller is transmitted to the electric controller, and the electric controller controls the double-motor combination electric operation of the double-electric driver according to a hand lever driving command;
when encountering a roadblock, the roadblock judging device continuously transmits N and S roadblock signals and roadblock distance signals to an obstacle avoidance control unit of the obstacle avoidance controller, the obstacle avoidance control unit calculates and judges the roadblock signals, and according to the N and S input signals, the roadblock judging device judges whether the roadblock is only an N roadblock or only a one-way roadblock of the S roadblock or a two-way roadblock of the N and S roadblocks; if the signal is an N or S one-way roadblock, calculating whether the roadblock signal is a weakening change, an enhancing change or a strongest roadblock signal, and then implementing obstacle avoidance control; if the road block is the non-strongest bidirectional road block, comparing and calculating the distance of the road block, selecting the input information of the short-distance road block to implement one-way road block obstacle avoidance, and if the road block is the strongest bidirectional road block, stopping signal transmission of the hand lever controller. The specific process is as follows:
1) when the unidirectional roadblock is judged and the roadblock signal is judged to be weakened, the obstacle avoidance control unit of the obstacle avoidance controller controls the switch module to be opened, and the signal of the hand lever controller reaches the electric controller through the obstacle avoidance controller to drive the electric wheelchair;
2) when the road block is judged to be the unidirectional road block and the road block signal is judged to be enhanced, the obstacle avoidance control unit of the obstacle avoidance controller controls the switch module to be closed, and the signal of the hand lever controller is blocked;
3) the roadblock judging device is used for conveying roadblock signals, the roadblock signals are compared with the distance between the front and rear roadblocks through the obstacle avoidance control unit to judge the roadblock direction and the strength change of the compared roadblock signals, if the judgment signals are strengthened, the obstacle avoidance control unit controls the switch module to be closed within a limited time, the switch module is opened after the closing time is up, the comparison judgment roadblock direction and the strength change of the judged roadblock signals are calculated again after the switch module is opened, and then the judgment is carried out again until the roadblock signals disappear or become the strongest roadblock;
4) the roadblock judging device sends out a strongest roadblock signal, the obstacle avoidance control unit judges whether the roadblock is the strongest roadblock in a single direction or not through calculation and comparison, if so, the switch module is closed, then the information of the driving path controlled by the hand lever is analyzed according to the information of the signal controlled by the hand lever, then the information of the driving path controlled by the hand lever is compared and controlled to be the same as the information of the strongest roadblock transmitted by the roadblock judging device, if the path information is the same, the switch module is continuously controlled to be closed, and if the path information is different, the switch module is instructed to be opened;
5) when the roadblock signals of the N-way and the S-way are strongest, the roadblock judging device sends out strongest roadblock signals, the obstacle avoidance control unit calculates, compares and judges the strongest roadblock which belongs to the double-way, and at the moment, the obstacle avoidance control unit controls the switch module to be closed until the information of the roadblock judging device changes the obstacle avoidance control unit to stop using.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (7)
1. An automatic obstacle avoidance control system of an electric wheelchair is characterized by comprising a hand lever manipulator, an automatic obstacle avoidance module and a wheelchair drive control module, wherein the hand lever manipulator is connected with the automatic obstacle avoidance module through a first transmission module; wherein,
the hand lever manipulator is used for manual operation;
the automatic obstacle avoidance module comprises a road surface sensor, an obstacle judger and an obstacle avoidance controller, wherein the road surface sensor is used for detecting road surface information and transmitting the road surface information to the obstacle judger; the roadblock judger is used for analyzing and judging whether the road information is a roadblock or not, generating pulse digital signals and transmitting the pulse digital signals to the obstacle avoidance controller; the obstacle avoidance controller performs control operation according to the pulse digital signal;
the wheelchair driving control module comprises a driving motor for driving the wheelchair and an electric controller for controlling the driving motor.
2. The automatic obstacle avoidance control system of an electric wheelchair as claimed in claim 1, wherein the electric controller is a PWM controller.
3. The automatic obstacle avoidance control system of the electric wheelchair as claimed in claim 1, wherein the road sensor is an infrared sensor or an ultrasonic sensor.
4. The automatic obstacle avoidance control system of the electric wheelchair as claimed in claim 1, wherein the obstacle avoidance controller comprises an obstacle avoidance control unit and a switch module for controlling the communication connection or disconnection of the first transmission module and the second transmission module.
5. The automatic obstacle avoidance control system of the electric wheelchair as claimed in claim 1, wherein the obstacle avoidance controller performing control operation according to the pulse digital signal comprises:
when the roadblock judger analyzes and judges that the roadblock is not a roadblock, the obstacle avoidance controller controls the second transmission module to open according to the pulse digital signal, and the second transmission module transmits the control signal of the hand lever controller to the wheelchair driving control module to perform normal manual operation;
when the roadblock judger analyzes and judges as the roadblock, the obstacle avoidance controller controls the second transmission module to be closed according to the pulse digital signal, and the second transmission module prevents the control signal of the hand lever controller from reaching the wheelchair drive control module to carry out obstacle avoidance operation.
6. The automatic obstacle avoidance control system of the electric wheelchair as claimed in claim 1, wherein the driving motor is a dual-driver motor.
7. An electric wheelchair, which comprises a vehicle body and a storage battery, and is characterized by further comprising an automatic obstacle avoidance control system of the electric wheelchair as claimed in any one of claims 1 to 6, wherein the automatic obstacle avoidance control system is installed in the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510732185.XA CN105250085A (en) | 2015-11-02 | 2015-11-02 | Automatic obstacle avoidance control system of electric wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510732185.XA CN105250085A (en) | 2015-11-02 | 2015-11-02 | Automatic obstacle avoidance control system of electric wheelchair |
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| Publication Number | Publication Date |
|---|---|
| CN105250085A true CN105250085A (en) | 2016-01-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510732185.XA Pending CN105250085A (en) | 2015-11-02 | 2015-11-02 | Automatic obstacle avoidance control system of electric wheelchair |
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| Country | Link |
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| CN (1) | CN105250085A (en) |
Cited By (2)
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| CN105534650A (en) * | 2016-03-15 | 2016-05-04 | 国家康复辅具研究中心 | Starting and barrier avoiding system of electrically powered wheelchair |
| CN107361932A (en) * | 2017-08-31 | 2017-11-21 | 苏州诺乐智能科技有限公司 | A kind of electric wheelchair controller |
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Application publication date: 20160120 |
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