CN105662744A - Embedded type multimodal interaction intelligent wheelchair control system - Google Patents
Embedded type multimodal interaction intelligent wheelchair control system Download PDFInfo
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- CN105662744A CN105662744A CN201610000376.1A CN201610000376A CN105662744A CN 105662744 A CN105662744 A CN 105662744A CN 201610000376 A CN201610000376 A CN 201610000376A CN 105662744 A CN105662744 A CN 105662744A
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- 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
- A61G5/10—Parts, details or accessories
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Abstract
The invention discloses an embedded type multimodal interaction intelligent wheelchair control system with the functions of handle control, voice control, voice human-computer interaction, ultrasonic obstacle-avoiding autonomous operation and visual navigation autonomous operation. A user not only can control motion of a wheelchair through a voice command, but also can select and switch multiple modals. According to the visual navigation autonomous operation function, marking line tracking operation under different light environments is achieved; according to the ultrasonic obstacle-avoiding autonomous operation function, random walking operation under the specific occasion is achieved; in addition, the ultrasonic obstacle-avoiding technology and the handle intervention operation technology are integrated into the multiple modals, and the operation safety of the wheelchair is further ensured. The embedded type multimodal interaction intelligent wheelchair control system is light in structure, smooth in interaction, capable of meeting requirements of different objects, good in safety and economy, and intelligent updating of a traditional electric wheelchair can be achieved on the basis of a single chip microcomputer.
Description
Technical field
The present invention relates to a kind of embedded multi-modal interactive intelligence wheelchair control system.
Background technology
Along with the increase of the disabled accelerating to cause with various disease, accident of social senilization's process, for elderly and the disabled scholar provides the walking-replacing tool of superior performance, cost rationally also energy widespread use to become one of entire society's issues that need special attention. This patent is exactly around this problem, consider people-machine-environmental interaction fluency, use popularity, operating safety and cost factor and a kind of economical embedded multi-modal interactive intelligence wheelchair control system strong based on the compact construction portability of high-performance micro-chip of designing, and common electric wheelchair can be directly used in and upgrade to intelligent wheel chair, to meet different use objects and use occasion, and the use making normal old man is provided with certain recreational, enriches the daily life of old man.
Summary of the invention
It is an object of the invention to provide a kind of economical, there is structure smoothness light, mutual, different object-oriented requirements can be met, use the control enclosure of the economical embedded multi-modal interactive intelligence wheelchair extensive, security is good. Conventional electric wheelchair can have been carried out intelligentized updating by the present invention on the basis of micro-chip, is a kind of embedded multi-modal interactive intelligence wheelchair control system with handle control, Voice command, voice man-machine interaction, ultrasonic wave automatic obstacle avoiding, vision independent navigation function. User is possible not only to select conventional handle controlling functions, the motion of wheelchair can also be controlled by phonetic order and each mode is selected and switches, vision guided navigation mode achieves the tag line under different light rays environment and follows the tracks of, thus it is accomplished to the operation of fixed route, meanwhile, autonomous operation mode achieves random " stroll " under specific occasion and runs. In addition, by avoiding obstacles by supersonic wave technology and voice are reported in the middle of technological incorporation to other mode, make wheelchair in real time the environment residing for it can be carried out determination and analysis (such as obstacle, low-lying location), and judge whether follow-up steering order can perform safely, information feed back to user, be ensure that the wheelchair operating safety under each mode by the form reported by voice again;Also handle is intervened running technology and forces to stop in the middle of technological incorporation to each mode, guarantee that user can intervene the motion of wheelchair by handle and push-switch in emergency circumstances is forced to stop (stopping of band-type brake locking wheelchair) in each mode, further ensure that wheelchair operating safety. The design philosophy of sub-module in addition so that intelligent wheel chair functionally can according to the demand sub-module customization of different object.
System of the present invention is made up of vision guided navigation mode, interactive voice control mode, autonomous operation mode, handle control mode, being divided into sensor (comprising ultrasonic transducer and vision sensor), SPCE061A micro-chip, D/A to change 6 parts such as module, electric wheelchair platform, human-computer interaction device and related peripheral pilot circuit, embedded multi-modal intelligent wheelchair control system hardware basic block diagram is as shown in Figure 1. Wherein, sensor is used for the information interchange realizing between external environment and micro-chip, the SPCE061A micro-chip information that environmental information and human-computer interaction device input to external world carries out comprehensive treatment and analysis, realizes the control to wheelchair eventually through D/A conversion module and electric wheelchair platform. Human-computer interaction device comprises operation handle arm, microphone, audio amplifier, keyboard and LED, each human-computer interaction device act as: operation handle arm is used for inputting handle steering order, microphone is used for inputting Voice command and interactive voice instruction, audio amplifier is used for playing voice message sound, keyboard inputs handle steering order and selects corresponding operational modal, LED is then used to indicate the currently residing running status of wheelchair, and the operation logic of each function mode is as follows.
Vision guided navigation mode completes the environmental information exchange between environment and SPCE061A micro-chip central control unit by vision sensor, then completes the control/status information with common electric wheelchair platform by central control unit and exchange. the concrete structure of vision guided navigation mode is as shown in Figure 2, tag line information is gathered by vision sensor, the visual sensor information collection under different light rays environment is realized by means of illumination, method is the VSYNC (field synchronization signal) that SPCE061A micro-chip exports according to vision sensor, the sequential of HREF (line synchronising signal) and PCLK (pixel synchronizing signal) completes the collection of view data, and the position between intelligent wheel chair and tag line and angle deviation is extracted by effective digital image processing algorithm, corresponding control strategy is obtained again according to this path information inquiry fuzzy control table, change, eventually through D/A, the four road analog voltages that module exports and control the motion of wheelchair. specific implementation is shown in vision guided navigation module.
Interactive voice control mode realizes the voice information interchange between user and SPCE061A micro-chip central control unit by microphone, earphone or audio amplifier, then completes the control/status information with common electric wheelchair platform by central control unit and exchange. The concrete formation of interactive voice control mode is as shown in Figure 3, primarily of voice training and speech recognition two portions composition, the method of voice training is that first user passes through microphone training utterance order, and SPCE061A micro-chip extracts the characteristic parameter of voice command and is stored in the flash memory of micro-chip and forms speech model storehouse; The method of speech recognition inputs phonetic order for user by microphone, by microphone, phonetic order is converted into electrical signal, gather phonetic order information by the A/D switching channel of micro-chip again, and then according to storehouse function, the model in speech signal to be measured and speech model storehouse is carried out similarity-rough set and realize speech recognition.Identify that successfully intelligent wheel chair then enters corresponding mode or moves accordingly. The method of interactive voice is that program starts to carry out initialize, and starts timing program, within the specific time, user can select to enter 6 kinds of function mode by keyboard,, after the regular hour, system just enters speech interaction mode, and reports prompt tone. Specific implementation is shown in lower interactive voice control module.
Autonomous operation mode is by the environmental information exchange organized ultrasonic transducer more and complete between environment and central control unit, then completes the control/status information with common electric wheelchair platform by central control unit and exchange. The concrete formation of autonomous operation mode is as shown in Figure 4, method is that SPCE061A micro-chip calculates wheelchair to distance obstacle or ground from ultrasound emission module transmitting ultrasonic wave to ultrasonic receiver module reception hyperacoustic timed interval by measuring, adopting suitable control strategy to realize the real-time avoidance of wheelchair and to avoid low-lying location again, specific implementation is shown in lower autonomous operation module.
Handle control mode is exchanged by the user profile between handle completing user, controller and wheelchair, specifically by the handle of common electric wheelchair platform, is realized by rly. group switching circuit.
The safeguard protection of intelligent wheel chair runs and mainly realizes by being fused in each mode by avoiding obstacles by supersonic wave technology and handle intervention running technology, by by the middle of the avoiding obstacles by supersonic wave technological incorporation in autonomous operation mode to other mode, make wheelchair also can detect in real time under other mode around whether have obstacle and low-lying location, once obstacle or low-lying location be detected, wheelchair can stop motion immediately, until other steering order of user is removed or performed to obstacle; It is fused in the middle of other mode by handle intervention techniques handle controlled in mode; make whenever wheelchair can carry out the motion of autonomous intervention wheelchair under other mode by handle; having the highest two priority classes function of handle, specific implementation is shown in intelligent wheel chair safeguard protection running technology.
Control/status information between central control unit with common electric wheelchair platform exchanges, change module mainly through D/A and export control information, the control signal of adapter common electric wheelchair controller realizes, we term it control/status information common hardware platform, specifically primarily of SPCE061A micro-chip central control unit, D/A module, electric wheelchair platform is formed, visible Fig. 2, right-hand part in Fig. 3 and Fig. 4 divides, specific implementation is shown in that lower control/status information common hardware platform realizes, but control information is different according to distinct interaction mode in the process of central control unit, that specifically sees each corresponding control module realizes part.
Vision guided navigation module realizes:
The structural representation of vision guided navigation module is as shown in Figure 2, mainly comprise the means of illumination that light source is provided, specify the tag line of intelligent wheel chair running orbit, gather the vision sensor of path information, view data processes and produces the principal controller of control decision, the D/A that control strategy is converted to corresponding analog voltage signal changes module, by analog voltage signal turning to and electric wheelchair platform that speed controls wheelchair. Wherein means of illumination can carry out the light intensity of the adjustment lighting source of self-adaptation according to the quality of collected view data, the vision guided navigation function under different light rays environment can be completed, vision sensor is digital image sensor, principal controller adopts micro-chip SPCE061A as micro-control unit (MCU), and electric wheelchair platform comprises handle controller and the direct-current machine that wheelchair carries.
As shown in Figure 5, the Controlling System of this module is the closed loop control system of a single-input single-output to the control principle of vision guided navigation module. Wherein the position at wheelchair center is as the input of given link, for determining the target value of controlled plant wheelchair. The feedback amount of the work output of the position at tag line center as measurement links and Controlling System. Wheelchair central position and the deviation of tag line central position is obtained by comparing link, by amplification and operation link, deviation amount is changed and power magnification again, perform the control signal that link receives amplifying element and exports, drive controlled plant wheelchair to move according to the set goal. Finally realize turning to and speed control of wheelchair.
Vision guided navigation module is functionally divided into driving five sub-function module of image collection, image procossing, control decision, safeguard protection and power system. Its composition frame chart is as shown in Figure 6. Wherein, the vision signal that image sensor is exported by image capture module carries out A/D conversion, the digital picture of way to acquire; Image procossing module extracts the position between intelligent wheel chair and tag line and angle deviation by effective digital image processing algorithm; Control decision module turning to and speed employing FUZZY ALGORITHMS FOR CONTROL intelligent wheel chair, obtains corresponding control strategy according to the path information inquiry fuzzy control table that image procossing module extracts; Security protection module is divided into the safeguard protection modes such as the control of avoiding obstacles by supersonic wave, handle, voice report and emergent stopping, wherein whether avoiding obstacles by supersonic wave safeguard protection has obstacle or low-lying location for judging around wheelchair, and handle is intervened safeguard protection and made the user can by the motion of the autonomous intervention wheelchair of handle; The driving module of power system is that by D/A, control strategy is converted to analog voltage signal on the rotating speed of control direct-current machine, then the controller of logical overvoltage signal adapter direct-current machine controls the rotating speed of direct-current machine.
The control method of vision guided navigation mode of the present invention is: micro-chip SPCE061A is after the initialize preparation work carrying out being correlated with, first the field look-at-me exported by image sensor triggers the collection that external interrupt starts to carry out field picture data, micro-chip is after entering an interrupt routine, the row look-at-me exported by image sensor again carries out the collection of particular row view data, until just exiting just interrupt routine after a field picture data gathering. Hereafter, micro-chip extracts the position between wheelchair and tag line and angle deviation by effective digital image processing algorithm, and obtain corresponding control strategy through corresponding control algorithm, wheelchair is before performing control strategy, by merging with autonomous operation mode, can judge whether the direction that wheelchair is about to run has obstacle or low-lying location, once obstacle or low-lying location be detected, wheelchair can stop motion immediately, until other steering order of user is removed or performed to obstacle. In addition, user is in the process carrying out vision guided navigation, the motion of autonomous intervention wheelchair whenever can be carried out by handle, the four road analog voltage signals that final micro-chip is produced by outside D/A conversion chip realize the control to wheelchair corner and speed, and the programflow chart of vision guided navigation mode is as shown in Figure 7.
Voice interaction module realizes:
The structural representation of voice interaction module is as shown in Figure 3, comprise SPCE061A micro-chip central control unit, speech processing module, microphone, earphone/audio amplifier, the D/A that control strategy is converted to corresponding analog voltage signal changes module, by analog voltage signal turning to and electric wheelchair platform that speed controls wheelchair.This module can realize the function of interactive voice and Voice command.
Voice interaction module is made up of voice training and speech recognition two portions, the method of voice training is that user is first by microphone training utterance order, after speech processing module, micro-chip extracts the characteristic parameter of voice command and is stored in the flash memory of micro-chip and forms speech model storehouse; Train and speech recognition after successfully, can be carried out, in speech recognition process, user inputs phonetic order by microphone, by microphone, phonetic order is converted into electrical signal, gather phonetic order information by the A/D switching channel of micro-chip, and then according to storehouse function, the model in speech signal to be measured and speech model storehouse is carried out similarity-rough set and realize speech recognition. Identify that successfully intelligent wheel chair then enters corresponding mode or moves accordingly. By by avoiding obstacles by supersonic wave technological incorporation to, in Voice command, making wheelchair have the function of safeguard protection when Voice command.
Voice interaction module also comprises voice broadcast function, after speech recognition success, the state that wheelchair can point out user current, by reporting voice in technological incorporation to vision guided navigation and in autonomous operation mode so that wheelchair when running into obstacle can timely by information feed back to user.
As shown in Figure 8, particular case is shown in implementation process to interactive voice/control mode programflow chart.
Autonomous operation module realizes:
Autonomous operation module is made up of ultrasonic emitting module (forming primarily of ultrasonic transmit circuit), ultrasonic wave receiver module (forming primarily of ultrasonic wave receiving circuit), multi-strobe circuit and D/A module. Launch ultrasonic wave by ultrasonic emitting module surrounding environment, run into after obstacle returns after receiver module processes, be sent to control chip SPCE061A, after control chip Treatment Analysis, control D/A module according to certain obstacle avoidance algorithm export corresponding voltage. Thus control the motion of wheelchair, make wheelchair avoid the obstacle of surrounding.
As shown in Figure 9, the installation direction of 1-6 group sensor is installed down along the direction of arrow, 7-8 group sensor in the distribution of the ultrasonic sensing device group in the present invention. 1-3 group sensor is for detecting preceding object thing, and 4 for detecting left side's obstacle, and 5 for detecting right obstacle, and 6 for detecting wheelchair rear obstacle, and 7,8 groups of sensors are for detecting low-lying location, front.
As shown in Figure 10, transistor amplifier and negater circuit composition, connect relation as shown in the figure to ultrasonic transmit circuit of the present invention, and I0B9 is the pin of SPCE061A. The square wave signal that control chip sends goes out ultrasonic wave through ultrasonic emitting sensor send after amplifying circuit and negater circuit.
Ultrasonic wave receiving circuit of the present invention as shown in figure 11, is made up of CX20106 and associated peripheral circuits, and COMY end connecting sensor, output terminal connects the IOB2 of SPCE061A. Input terminus receives the signal of sensor, becomes high lower level and be input to SPCE061A after CX20106 processes.
Multi channel selecting module of the present invention as shown in figure 12, is made up of multi-channel analog switch CD4097 and transistor amplifier, and the I/O of SPCE061A is connected respectively to 10,11,14 pins of CD4097 through amplifying circuit. 17 pin connect receiver module, 1 pin after connecing electric capacity again sending and receiving penetrate module. The present invention adopts 8 passage range findings to measure the outside atmosphere of wheelchair, controls the order of 8 passage time-sharing works by the three of SPCE061A I/O mouths.Detect the obstacle information in all directions in order successively.
The programflow chart of the present invention is as shown in figure 13, when wheelchair runs, each group sensor circulation detection obstacle around, first system initialize is carried out, even if arranging timer to open, wait for a period of time and prevent repercussions from disturbing, open EXT1 again, external interrupt, after receiving repercussions signal, process range finding result, if range finding time-out, then result value is labeled as 2 meters, by the time preceding object thing is turned left preferentially to avoid and the strategy avoiding low-lying location according to three kinds of Robot dodge strategy after having found range in 8 roads, the strategy avoiding left and right side obstacle and the strategy avoiding dead angle and lane carry out avoidance, wheelchair is made to avoid the obstacle of surrounding.
Intelligent wheel chair safeguard protection running technology realizes:
The implementation method of avoiding obstacles by supersonic wave safeguard protection is, in the sequence of control of other mode, wheelchair is before performing corresponding control strategy, judge whether the direction that wheelchair is about to run has obstacle or low-lying location by repeatedly calling ultrasonic ranging function, once obstacle or low-lying location be detected, wheelchair can stop motion immediately, and system reports " there is obstacle in this direction " prompt tone immediately, until other steering order of user is removed or performed to obstacle, vision guided navigation mode and interactive voice control mode all employ avoiding obstacles by supersonic wave safeguard protection.
The implementation method of safeguard protection intervened by handle, four road analog voltage output lines of the controller carried by wheelchair are received on four road voltage comparator LM339, and compare with votage reference 2.5V, when user operation handle, among the four road analog voltage signals that handle controller exports, Bi You mono-tunnel is greater than votage reference, therefore Bi You mono-tunnel exports as high level in four road voltage comparators, pass through afterwards or door output high level, the operation of relay being used for handle control is connected again through amplifying circuit drives, wheelchair is switched to handle master mode, just the control of the highest priority of handle is achieved, when user does not use handle, wheelchair will be switched to initial default state, the hardware circuit diagram of handle intervention safeguard protection is as shown in figure 14.
Control/status information common hardware platform realizes:
Common hardware platform comprises D/A and changes circuit, rly. group pilot circuit, common electric wheelchair controller, power source circuit, keyboard power pilot lamp circuit. Wherein D/A changes circuit and control information is converted to four road analog voltage signals, then the controller of logical overvoltage signal adapter direct-current machine controls the rotating speed of direct-current machine; Rly. group pilot circuit is used for switching wheelchair and is in other master modes or handle master mode; Common electric wheelchair controller be used for control wheelchair about two direct-current machine; Power source circuit is whole pilot circuit offer power supply; Keyboard power pilot lamp circuit is used for handle input user instruction and the currently residing running status of instruction wheelchair.
Two rly.s in rly. group pilot circuit (as shown in figure 15) are connected with IOB0 with IOB1 of micro-chip respectively, and when IOB0 is high level, system is in non-handle master mode, and when IOB1 is high level, system is in handle master mode.
D/A changes circuit (as shown in figure 16) and is made up of two pieces of D/A conversion chip TLV5618AI, 2.5V reference voltage chip MC1403, and wherein the sheet of TLV5618AI selects pin, serial clock input pin SCLK, serial date transfer pin DIN be connected with IOB10-12, IOB13-15 of micro-chip, votage reference input pin REF with MC1403 VOUT be connected.When sheet selects pinFor TLV5618AI during lower level starts working, and determine work sequential by clocksignal SCLK, the serial date transfer pin DIN of TLV5618AI is inputted 16 position digital signals by micro-chip, wherein D15 ~ 12 are PLC technology position, and for switching speed control, power consumption mode selects and register is selected to arrange; D11 ~ 0 is data bit, by from a high position to the input of the order of low position, transmits and image data in the hopping edge of SCLK signal.
Common electric wheelchair controller is under non-handle master mode, and direct-current machine is controlled by the four road analog voltage signals being changed circuit output by D/A; Common electric wheelchair controller is under handle master mode, and direct-current machine is controlled by the four road analog voltage signals exported by controller level.
Accompanying drawing explanation
Fig. 1 is the embedded multi-modal intelligent wheelchair control system hardware basic structure of the present invention;
In figure: 1. sensor, 2.SPCE061A micro-chip, 3.D/A change module, 4. electric wheelchair platform, 5. human-computer interaction device, 6. peripheral control circuits;
Fig. 2 is the structure iron of vision guided navigation module of the present invention;
Fig. 3 is interactive voice control module structure iron of the present invention;
Fig. 4 is autonomous operation modal structure figure of the present invention;
Fig. 5 is vision guided navigation module control principle of the present invention;
Fig. 6 is the function composition frame chart of vision guided navigation module of the present invention;
Fig. 7 is vision guided navigation modular program schema of the present invention;
Fig. 8 is interactive voice of the present invention control mode programflow chart;
Fig. 9 is autonomous operation module ultrasonic transducer layout drawing of the present invention;
Figure 10 is autonomous operation module ultrasonic transmit circuit figure of the present invention;
Figure 11 is autonomous operation module ultrasonic wave receiving circuit figure of the present invention;
Figure 12 is autonomous operation module hyperchannel gating module schematic circuit of the present invention;
Figure 13 is autonomous operation modular program schema of the present invention;
Figure 14 is that safeguard protection operation hardware circuit diagram intervened by handle of the present invention;
Figure 15 is rly. group pilot circuit figure of the present invention, and wherein Figure 15 (a) is rly. group control A, B, C, D contact junction circuit figure; Figure 15 (b) is rly. group control E, A, B contact junction circuit figure.
Figure 16 is that D/A of the present invention changes schematic circuit.
Embodiment
The present invention will be further described by following examples.
The embedded multi-modal intelligent wheelchair control system that the present invention proposes is primarily of vision guided navigation mode, interactive voice control mode, autonomous operation mode, handle control mode composition. Wherein vision guided navigation mode completes the environmental information exchange between environment and central control unit by vision sensor, interactive voice/control mode realizes the voice information interchange between user and central control unit by microphone, earphone or audio amplifier, autonomous operation mode is by the environmental information exchange organized ultrasonic transducer more and complete between environment and central control unit, handle control mode is exchanged by the user profile between handle completing user, controller and wheelchair, completes the control/status information with common electric wheelchair platform eventually through central control unit and exchanges.
The embedded multi-modal intelligent wheelchair control system hardware basic block diagram that the present invention proposes as shown in Figure 1, is mainly divided into sensor (comprising ultrasonic transducer and vision sensor), SPCE061A micro-chip, D/A to change 6 parts such as module, electric wheelchair platform, human-computer interaction device and related peripheral pilot circuit. Wherein, sensor is used for the information interchange realized between external environment and SPCE061A micro-chip, the SPCE061A micro-chip information that environmental information and human-computer interaction device input to external world carries out comprehensive treatment and analysis, realizes the control to wheelchair eventually through D/A conversion module and electric wheelchair platform.Human-computer interaction device comprises operation handle arm, microphone, audio amplifier, keyboard and LED, each human-computer interaction device act as: operation handle arm is used for inputting handle steering order, microphone is used for inputting Voice command and interactive voice instruction, audio amplifier is used for playing voice message sound, keyboard inputs handle steering order and selects corresponding operational modal, LED is then used to indicate the currently residing running status of wheelchair, and the operation logic of each function mode is as follows.
The structural representation of the vision guided navigation module that the present invention proposes is as shown in Figure 2, mainly comprise the means of illumination that light source is provided, specify the tag line of intelligent wheel chair running orbit, gather the vision sensor of path information, view data processes and produces the principal controller of control decision, the D/A that control strategy is converted to corresponding analog voltage signal changes module, by analog voltage signal turning to and electric wheelchair platform that speed controls wheelchair. Wherein means of illumination can carry out the light intensity of the adjustment lighting source of self-adaptation according to the quality of collected view data, the vision guided navigation function under different light rays environment can be completed, vision sensor is digital image sensor, principal controller adopts SPCE061A micro-chip as micro-control unit (MCU), and electric wheelchair platform comprises handle controller and the direct-current machine that wheelchair carries.
The interactive voice control module structural representation that the present invention proposes is as shown in Figure 3, comprise micro-chip SPCE061A, speech processing module, microphone, earphone/audio amplifier, the D/A that control strategy is converted to corresponding analog voltage signal changes module, by analog voltage signal turning to and electric wheelchair platform that speed controls wheelchair. This module can realize the function of voice man-machine interaction and Voice command.
Autonomous operation module of the present invention, its structure iron as shown in Figure 4, comprises control chip SPCE061A, ultrasonic emitting module, ultrasonic wave receiver module, multi channel selecting module, ultrasonic transducer group, and D/A changes module. Wherein said SPCE061A main control board, includes crystal oscillator that SPCE061A micro-chip needs, reset, the circuit such as program burn writing interface. SPCE061A changes modular telecommunications with ultrasonic emitting module, ultrasonic wave receiver module, D/A and is connected, and D/A changes module and electric wheelchair platform telecom-connects. Multi channel selecting module and ultrasonic emitting module and receiver module telecom-connect.
As shown in Figure 5, the Controlling System of this module is the closed loop control system of a single-input single-output to the control principle of the vision guided navigation module that the present invention proposes. Wherein the position at wheelchair center is as the input of given link, for determining the target value of controlled plant wheelchair. The feedback amount of the work output of the position at tag line center as measurement links and Controlling System. Wheelchair central position and the deviation of tag line central position is obtained by comparing link, by amplification and operation link, deviation amount is changed and power magnification again, perform the control signal that link receives amplifying element and exports, drive controlled plant wheelchair to move according to the set goal. Finally realize turning to and speed control of wheelchair.
The function composition frame chart of the vision guided navigation module that the present invention proposes as shown in Figure 6, is divided into driving five sub-function module of image collection, image procossing, control decision, safeguard protection and power system. Wherein, the vision signal that image sensor is exported by image capture module carries out A/D conversion module, the digital picture of way to acquire;Image procossing module extracts the position between intelligent wheel chair and tag line and angle deviation by effective digital image processing algorithm; Control decision module turning to and speed employing FUZZY ALGORITHMS FOR CONTROL intelligent wheel chair, obtains corresponding control strategy according to the path information inquiry fuzzy control table that image procossing module extracts; Security protection module is divided into the safeguard protection modes such as the control of avoiding obstacles by supersonic wave, handle, voice report and emergent stopping, wherein whether avoiding obstacles by supersonic wave safeguard protection has obstacle or low-lying location for judging around wheelchair, and handle is intervened safeguard protection and made the user can by the motion of the autonomous intervention wheelchair of handle; The driving module of power system is that control strategy is changed module into analog voltage signal by D/A on the rotating speed of control direct-current machine, then the controller of logical overvoltage signal adapter direct-current machine controls the rotating speed of direct-current machine.
The programflow chart of the vision guided navigation mode that the present invention proposes is as shown in Figure 7, its method is that SPCE061A micro-chip is after the initialize preparation work carrying out being correlated with, first the field look-at-me exported by image sensor triggers the collection that external interrupt starts to carry out field picture data, SPCE061A micro-chip is after entering an interrupt routine, the row look-at-me exported by image sensor again carries out the collection of particular row view data, until just exiting just interrupt routine after a field picture data gathering. Hereafter, SPCE061A micro-chip extracts the position between wheelchair and tag line and angle deviation by effective digital image processing algorithm, and obtain corresponding control strategy through corresponding control algorithm, wheelchair is before performing control strategy, by merging with autonomous operation mode, can judge whether the direction that wheelchair is about to run has obstacle or low-lying location, once obstacle or low-lying location be detected, wheelchair can stop motion immediately, until other steering order of user is removed or performed to obstacle. In addition, user is in the process carrying out vision guided navigation, whenever can be carried out the motion of autonomous intervention wheelchair by handle, the four road analog voltage signals that final SPCE061A micro-chip changes module chip generation by outside D/A realize the control to wheelchair corner and speed.
The voice interaction module that the present invention proposes is made up of voice training and speech recognition two portions. User is by microphone training utterance order, and SPCE061A micro-chip extracts the characteristic parameter of voice command and is stored in the flash memory (FLASH) of SPCE061A and forms speech model storehouse. In recognition process, utilize storehouse function that the model in speech signal to be measured and speech model storehouse is carried out similarity-rough set to realize speech recognition. Identify that successfully intelligent wheel chair then moves accordingly or enters corresponding mode.
By by avoiding obstacles by supersonic wave technological incorporation in Voice command; wheelchair is made to have the function of safeguard protection when Voice command; voice interaction module also comprises voice broadcast function; after speech recognition success; the state that wheelchair can point out user current; by voice being reported in technological incorporation to vision guided navigation and in autonomous operation mode so that wheelchair when running into obstacle can timely by information feed back to user.
Interactive voice of the present invention control mode programflow chart is as shown in Figure 8, the SPCE061A micro-chip used in voice interaction module, due to the restriction of storer, 5 groups of phonetic orders can only be imported every time, and this module needs the instruction used have 10 groups, so employing a point group technique when module in realization, ten groups of phonetic orders are divided into 2 groups, first group is used for interactive voice, comprises " advance " " retrogressing " " left-hand rotation " " right-hand rotation " " wheelchair ";2nd group is used for Voice command, comprises " voice " " avoidance " " vision " " fusion " " navigation ". After system electrification, program starts to carry out initialize, and starts timing program, within 5s clock, user can select 6 kinds of mode by keyboard, after entering any one mode, handle controls mode because having the highest priority, so can intervene the motion of wheelchair at any time. After 5s clock, system just enters speech interaction mode, and reports prompt tone, then imports the 2nd group of phonetic order.
If by what interactive voice entered Voice command mode to be: first system introducing the 2nd group of phonetic order after 5s, when system acceptance is to " wheelchair " instruction, system then imports first group of instruction, now can select each function mode of wheelchair, after receiving " voice " instruction, again import the 2nd group of phonetic order, then just can realize the Voice command to wheelchair.
As shown in Figure 9, the installation direction of 1-6 group sensor is installed down along the direction of arrow, 7-8 group sensor in the distribution of the ultrasonic sensing device group in the present invention. 1-3 group sensor is for detecting preceding object thing, and 4 for detecting left side's obstacle, and 5 for detecting right obstacle, and 6 for detecting wheelchair rear obstacle, and 7,8 groups of sensors are for detecting low-lying location, front.
As shown in Figure 10, the effect of ultrasonic transmit circuit is that the square wave signal sent according to SPCE061A makes ultrasonic transducer launch the ultrasonic wave of respective frequencies to ultrasonic transmit circuit of the present invention. Transistor amplifier and negater circuit composition, the IOB9 of SPCE061A first through a transistor amplifier, and then through one group of reverser. Being branched off into two-way again, a road telecom-connects with ultrasonic transducer after two groups of reversers arranged side by side and an electric capacity. Another road telecom-connects with ultrasonic transducer after one group of reverser and two groups of reversers arranged side by side.
Ultrasonic wave receiving circuit of the present invention as shown in figure 11, is made up of CX20106 and associated peripheral circuits, and 1 pin connecting sensor, 7 pins connect the IOB2 of SPCE061A. Input terminus receives the signal of sensor, becomes level signal and is input to the interruption that SPCE061A triggers micro-chip, show that ultrasonic wave is from the time being transmitted into reception, thus calculate the distance between wheelchair to obstacle after CX20106 processes.
Multi channel selecting module of the present invention as shown in figure 12, is made up of multi-channel analog switch CD4097 and transistor amplifier, and the I/O of SPCE061A is connected respectively to 10,11,14 pins of CD4097 through amplifying circuit. 17 pin connect the input terminus of receiver module, 1 pin after connecing electric capacity again sending and receiving penetrate the output terminal of module. The present invention adopts 8 passage range findings to measure the outside atmosphere of wheelchair, controls the order of 8 passage time-sharing works by the three of SPCE061A I/O mouths. Detect the obstacle information in all directions in order successively.
Ultrasonic wave automatic obstacle avoiding module of the present invention is divided into three districts, blind area, safe distance when sensor detects the distance of obstacle, and far-end distance. Just think that the party does not upwards have obstacle when the distance detected is greater than safe distance program, it is safe. The Robot dodge strategy of this avoidance module has following three kinds:
1. turning left preferentially to avoid preceding object thing and avoid the strategy in low-lying location, when 3 groups, front sensor does not detect obstacle and two groups, front sensor down does not detect low-lying location, wheelchair advances. When 3 groups, front sensor detects obstacle in 55 centimetres or the 7th, 8 group of sensor detects low-lying, preferentially judge whether to turn left, when the left side does not turn to space, then judge whether can right, when there is an obstacle left and right, then wheelchair halts.
2. avoid the strategy of left and right side obstacle
For flanking obstacle, micro-chip is allowed to compare the changing conditions found range for several times left and right side to adjust wheelchair motion track, if measuring continuous three secondary data of left side linearly to successively decrease, and three number be all less than a setpoint distance, then judge left side's flanking obstacle, now judge whether right has and enough turn to space, there is the obstacle continuing after then deflecting certain angle to the right to advance and side is given prominence to, system may also have little time to judge flanking obstacle, so wheelchair system being provided with left and right minimum safe distance, when obstacle enters suddenly non-security region, judging whether the other side has enough turns to space equally, have and continue to advance after then deflecting certain angle to this direction.
3. avoid the strategy in dead angle and lane
In order to prevent wheelchair from running into some corners and lane has been absorbed in the endless loop of avoidance, wheelchair left-hand rotation right-hand rotation hockets, and but cannot exit. In order to break away from this kind of state, devise the corresponding strategy making wheelchair walk out dead angle avoidance, and make wheelchair can change corresponding Robot dodge strategy under various circumstances, in a program, be provided with two weights to wheelchair, smooth degree, delay degree. When the smooth and easy time lag Office Copy of advance is cleared, on the contrary clear smooth degree. Advance not smooth when running into dead angle, delay degree constantly raises, accumulation is judged as entering dead angle time certain value, at this moment wheelchair avoidance state is changed by micro-chip, wheelchair is allowed to retreat, and in the process retreated, detect the obstacle at rear, after turning certain angle after retreating certain distance again, again return to advance avoidance state.
The autonomous operation modular program schema that the present invention proposes is as shown in figure 13, when using the electric wheelchair that this ultrasonic automatic obstacle avoiding module is housed as user, first user is sitting on wheelchair, then startup button is pressed, when wheelchair runs, the detection peripheral obstacle information that 8 groups of ultrasonic transducers on wheelchair are real-time, then avoidance is carried out according to the strategy turning left preferentially to avoid preceding object thing and avoiding low-lying location when running into preceding object thing or low-lying location, when running into left and right side's obstacle wheelchair then according to. the strategy avoiding left and right side obstacle carries out avoidance, when running into dead angle or lane, wheelchair can enter dead angle by automatic decision, then dead angle or lane is exited according to the strategy avoiding dead angle and lane.
The avoiding obstacles by supersonic wave safeguard protection flow process that the present invention proposes is as follows, after system enters avoiding obstacles by supersonic wave safety protection program, first initialize speech recognition device, and start to wait user input voice instruction, when after the phonetic order that the complete user of system identification is given, first call ultrasonic ranging function judges to run on direction whether have obstacle, if there being obstacle, wheelchair stops, system also reports prompt tone: " the party upwards has obstacle ", if operation does not have obstacle on direction, perform the phonetic order of user, and judge whether a correspondence direction has obstacle at set intervals.
The hardware circuit diagram of the handle intervention safeguard protection that the present invention proposes is as shown in figure 14, the four road analog voltage output lines that its method is the controller carried by wheelchair are received on four road voltage comparator LM339, and compare with votage reference 2.5V, when user operation handle, among the four road analog voltage signals that handle controller exports, Bi You mono-tunnel is greater than votage reference, therefore Bi You mono-tunnel exports as high level in four road voltage comparators, pass through afterwards or door output high level, the operation of relay being used for handle control is connected again through amplifying circuit drives, wheelchair is switched to handle master mode, just the control of the highest priority of handle is achieved, when user does not use handle, wheelchair will be switched to non-handle master mode.
The rly. group pilot circuit figure that the present invention proposes is as shown in figure 15, wherein two rly.s are connected with IOB0 with IOB1 of micro-chip respectively, and when IOB0 is high level, system is in non-handle master mode, when IOB1 is high level, system is in handle master mode.
The DA that the present invention proposes changes schematic circuit as shown in figure 16, circuit is changed module chip TLV5618AI, 2.5V reference voltage chip MC1403 by two pieces of D/A and is formed, wherein the sheet of TLV5618AI selects pin, serial clock input pin SCLK, serial date transfer pin DIN to be connected with IOB10-12, IOB13-15 of micro-chip, and the VOUT of votage reference input pin REF with MC1403 is connected. When sheet selects pin to be lower level, TLV5618AI starts working, and determine work sequential by clocksignal SCLK, the serial date transfer pin DIN of TLV5618AI is inputted 16 position digital signals by micro-chip, wherein D15 ~ 12 are PLC technology position, and for switching speed control, power consumption mode selects and register is selected to arrange; D11 ~ 0 is data bit, by from a high position to the input of the order of low position, transmits and image data in the hopping edge of SCLK signal.
Claims (4)
1. an embedded multi-modal interactive intelligence wheelchair control system, it is characterised in that: described system is divided into vision guided navigation mode, interactive voice/control mode, autonomous operation mode, handle control mode, wireless remote control mode and multi-modal fusion safeguard protection mode; Concrete structure comprises sensor (1), SPCE061A micro-chip (2), D/A conversion module (3), electric wheelchair platform (4), human-computer interaction device (5) and peripheral control circuits (6); Sensor (1) is used for the information interchange realized between external environment and SPCE061A micro-chip (2), human-computer interaction device (5) is used for the information interchange realized between user and SPCE061A micro-chip (2), the information that sensor (1) and human-computer interaction device (5) input is carried out comprehensive treatment and analysis by SPCE061A micro-chip (2), changes module (3), electric wheelchair platform (4) and peripheral control circuits (6) eventually through D/A and realizes the control to wheelchair;
Sensor (1) is connected with peripheral control circuits (6), and human-computer interaction device (5) and peripheral control circuits (6) and SPCE061A micro-chip (2) are interconnected, and SPCE061A micro-chip (2) is changed module (3) with D/A and is connected; D/A changes module (3) and is connected with electric wheelchair platform (4);
Described safeguard protection runs and comprises avoiding obstacles by supersonic wave technology and handle intervention running technology two kinds of safeguard protection modes; Under safeguard protection mode intervened by handle, user, under each operational modal, all carrys out the motion of autonomous intervention wheelchair by handle; Under avoiding obstacles by supersonic wave safeguard protection mode, user, under each operational modal, all judges to run on direction whether have obstacle and low-lying location by ultrasonic transducer, and reports program by this report information to user by voice;
The control mode of described SPCE061A micro-chip control DC motor speed is that control strategy is changed module converts into analog voltage signal by D/A, more logical overvoltage signal adapter electric wheelchair platform controls the rotating speed of direct-current machine.
2. the embedded multi-modal interactive intelligence wheelchair control system of one according to claim 1, it is characterized in that, described sensor comprises ultrasonic transducer and vision sensor, ultrasonic transducer is arranged on below the front, rear, left and right of wheelchair and bottom on these five directions, and vision sensor is arranged on the lower section of central position, wheelchair seat.
3. the embedded multi-modal interactive intelligence wheelchair control system of one according to claim 1, it is characterized in that, described human-computer interaction device comprises for inputting Voice command and the microphone of interactive voice instruction, for inputting the operation handle arm of handle steering order, for playing the audio amplifier of voice message sound, for inputting handle steering order and select the keyboard of corresponding operational modal, it is used to indicate the LED of the currently residing running status of wheelchair.
4. the embedded multi-modal interactive intelligence wheelchair control system of one according to claim 1, it is characterized in that, described peripheral control circuits comprise for provide the power source circuit of system power supply, for switch wheelchair running status rly. group pilot circuit, for launch and receive hyperacoustic ultrasonic ranging circuit, for guarantee user can control most high priority circuit by the handle of motion that handle carrys out autonomous intervention wheelchair, for providing the keyboard power pilot lamp circuit of man-machine interaction.
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| CN107791255A (en) * | 2017-09-15 | 2018-03-13 | 北京石油化工学院 | One kind is helped the elderly robot and speech control system |
| CN109754785A (en) * | 2019-02-15 | 2019-05-14 | 临沂大学 | A kind of intelligence learning wheelchair and its phonetic study method |
| CN109771165A (en) * | 2019-03-29 | 2019-05-21 | 安徽信息工程学院 | A kind of wheelchair control system |
| CN109846617A (en) * | 2019-04-10 | 2019-06-07 | 广州思智科技有限公司 | A kind of electric wheelchair control system |
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| CN110658742A (en) * | 2019-09-05 | 2020-01-07 | 四川省康复辅具技术服务中心 | Multi-mode cooperative control wheelchair control system and method |
| CN110812019A (en) * | 2019-11-06 | 2020-02-21 | 四川省康复辅具技术服务中心 | Intelligent wheelchair based on multi-mode control |
| CN111150566A (en) * | 2020-01-17 | 2020-05-15 | 南京邮电大学 | Wheelchair control system and method for autonomous navigation and multi-mode man-machine interaction sharing |
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| CN110658742A (en) * | 2019-09-05 | 2020-01-07 | 四川省康复辅具技术服务中心 | Multi-mode cooperative control wheelchair control system and method |
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| CN110812019B (en) * | 2019-11-06 | 2021-06-04 | 四川省康复辅具技术服务中心 | Intelligent wheelchair based on multi-mode control |
| CN110812019A (en) * | 2019-11-06 | 2020-02-21 | 四川省康复辅具技术服务中心 | Intelligent wheelchair based on multi-mode control |
| CN111150566A (en) * | 2020-01-17 | 2020-05-15 | 南京邮电大学 | Wheelchair control system and method for autonomous navigation and multi-mode man-machine interaction sharing |
| CN111150566B (en) * | 2020-01-17 | 2022-05-10 | 南京邮电大学 | Wheelchair control system and method for autonomous navigation and multi-mode man-machine interaction sharing |
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Application publication date: 20160615 |