CN106726210A - A kind of intelligence control system of multifunctional wheelchair - Google Patents

A kind of intelligence control system of multifunctional wheelchair Download PDF

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Publication number
CN106726210A
CN106726210A CN201611193477.1A CN201611193477A CN106726210A CN 106726210 A CN106726210 A CN 106726210A CN 201611193477 A CN201611193477 A CN 201611193477A CN 106726210 A CN106726210 A CN 106726210A
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China
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signal
amp
frequency
represents
wheelchair
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CN201611193477.1A
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Chinese (zh)
Inventor
王秀峰
崔刚
鄢俊
王春萌
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王秀峰
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Priority to CN201611193477.1A priority Critical patent/CN106726210A/en
Publication of CN106726210A publication Critical patent/CN106726210A/en

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/10General characteristics of devices characterised by specific control means, e.g. for adjustment or steering

Abstract

The invention discloses a kind of intelligence control system of multifunctional wheelchair, including:Drive recorder, for recording image and the related information of sound in wheelchair traveling way;Speech control module, for the phonetic order of input operation person, realizes the Voice command of wheelchair mechanical structure;Apart from induction module, for the physical change amount of detection object thing, the distance from sensor to object is measured;Display terminal, for being shown to the signal that main control computer is processed, for operator's reference;Main control computer, with drive recorder, speech control module, apart from induction module, display terminal wire communication, realize drive recorder, speech control module, the treatment apart from induction module input signal, and show in display terminal.The present invention improves the reliability of operation, improves the safety in utilization of wheelchair;Intelligent terminal, speech control module and the intelligent level of wheelchair is improve apart from induction module, be conducive to improving safety and reliability when wheelchair is walked.

Description

A kind of intelligence control system of multifunctional wheelchair

Technical field

The invention belongs to intelligent wheel chair technical field, more particularly to a kind of intelligence control system of multifunctional wheelchair.

Background technology

Existing wheelchair, wheelchair is the important tool of rehabilitation, and it is not only the walking-replacing tool of limbs the disabled, prior It is them is carried out physical exercise by means of wheelchair and is participated in social activities.Common wheelchair is general by wheelchair frame, wheel, brake dress Put and seat against four parts composition.Hand wheelchair increases manual setter on the basis of common wheelchair.Including walking, the lamp in building is climbed Tool is fixing seat mode, it is impossible to which prostration can not uprightly rise, and can not be rotated.Also no intelligent terminal has been solved more The control and service for overflowing, thus this wheelchair will not bring further facilitate those need depth help and it is more multi-functional Disabled person.

Existing Wheelchair structure is simple, and intelligence degree is relatively low, and safety and reliability is poor.

The content of the invention

It is an object of the invention to provide a kind of intelligence control system of multifunctional wheelchair, it is intended to solve existing wheelchair knot Structure is simple, and intelligence degree is relatively low, the poor problem of safety and reliability.

The present invention is achieved in that a kind of intelligence control system of multifunctional wheelchair, the intelligence of the multifunctional wheelchair Control system includes:

Drive recorder, for recording image and the related information of sound in wheelchair traveling way;

Speech control module, for the phonetic order of input operation person, and delivers to main control computer and is processed, and realizes wheelchair machine The Voice command of tool structure;

Apart from induction module, for the physical change amount of detection object thing, surveyed by the way that the variable quantity is scaled into distance Measure the distance from sensor to object;

Display terminal, for being shown to the signal that main control computer is processed, for operator's reference;

Main control computer, with drive recorder, speech control module, apart from induction module, display terminal wire communication, realize row Car recorder, speech control module, the treatment apart from induction module input signal, and shown in display terminal.

Further, the main control computer is additionally provided with GPS module, 4G modules and WIFI module;GPS module realizes determining for wheelchair Position;4G modules and WIFI module realize the communication with other-end.

Further, the WIFI module is provided with signal phase computing module, the phase calculation of the phase calculation module Method includes:

The n-th road of kth passage signal Sk.nT the expression formula of () is:

Sk.n(t)=exp j { ω0(t+τk+nTs)+1/2μ(t+τk+nTs)2, k=0,1 ...;N=0,1,2 ...

Wherein, ω0It is the initial angular velocity of output waveform, t is the time, and n represents the sequence number of way in every passage, and μ is represented Chirp rate, TsIt is sampling period, τkRepresent the kth channel signal start-phase corresponding time difference;

The phase of the n-th road of kth passage signalMake such as down conversion:

OrderPk.n=μ (τk+nTs)、Qk.n0k+nTs)+1/2μ(τk+nTs)2, then go up Formula can be turned to:

WhereinOn the basis of phase, when signal attribute parameter is fixed, Pk.n、Qk.nIt is definite value;The waveform on other roads is defeated Go out and regard as one offset phase of increase on the basis of master phaseObtain.

Further, the 4G modules are provided with Combined estimator unit, the combined estimation method bag of the Combined estimator unit Include:Echo signal DOA estimates, ripple is estimated up to signal time delay TD and doppler frequency fd estimates triple combination's method of estimation;

First, to the energy attenuation for receiving of array antenna is obtained into very severe non-targeted reflected signal, through too small , so as to detect and extract weak signal, the wavelet analysis will be received for the decomposition of wave analysis, adaptive threshold selection and reconstruct Weak signal be divided into HFS and low frequency part, by multilayer decompose, by every layer of HFS according to different during reconstruct Threshold value is accepted or rejected, and the part beyond threshold value takes threshold value, and actual value is taken less than the part of threshold value;

Second step, estimates Doppler frequency:By the Testing of Feeble Signals of early stage, signal is improve to what is received Signal to noise ratio target echo in, the differentiated Doppler frequency signals in frequency for containing, by local sine Synchronizing output and receive signal by sync detection circuit with cosine signal carries out orthogonal operations, extracts Doppler frequency;

Specially:By orthogonal derivation and circuit filtering, Doppler frequency part formula such as (1),

In formula, fd=(ω-ω 0)/2 π, comprising Doppler frequency composition;

M represents decay factor of the signal in whole circuit system transmitting procedure in formula, and β j represent aerial transmission The factor, ψ (θ j) represents the function containing target signal direction angle, and ω represents the target containing doppler-frequency component for receiving The frequency of carrier signal of reflected signal, ω 0 represents carrier frequency;

3rd step, combined extracting is carried out to DOA and time delay:Using extracted Doppler frequency and ESPRIT algorithms Middle Doppler frequency carries out matrixing and calculating with the joint property of DOA, signal time delay, so as to extract DOA and Bo Da signals Time delay;

Specially:In Combined estimator DOA and TD, the ESPRIT algorithms for utilizing, last derivation formula such as (2),

Rxx- γ Rxy=APAH- γ AP φ HAH=AP (I- γ φ H) AH (2)

Rxx represents array auto-covariance in formula, and Rxy table array cross covariances, γ represents the corresponding feature of array signal Value, I represents unit matrix, and A represents direction matrix, and AH represents the Hilbert matrix of direction matrix, and P represents the association of information source part Variance matrix, φ H represent the direction matrix containing Doppler frequency composition;

By the Doppler frequency for obtaining, then enter line parameter pairing using ESPRIT algorithms and can obtain DOA and TD.

Further, the main control computer is provided with digital modulation signals module, and the numerical value of the digital modulation signals module is adjusted Include to signal method:

Step one, docking collection of letters s (t) carries out nonlinear transformation;Carry out as follows:

WhereinA represents the amplitude of signal, and a (m) represents letter Number symbol, p (t) represent shaping function, fcThe carrier frequency of signal is represented,The phase of signal is represented, by this Be can obtain after nonlinear transformation:

Step 2, calculates the broad sense single order cyclic cumulants for receiving signal s (t)With broad sense second-order cyclic cumulantThe characteristic parameter of signal s (t) is received by calculatingClassify with using least mean-square error Device, identifies 2FSK signals;Calculate the Generalized Cyclic cumulant for receiving signalCarry out as follows:

WithGeneralized Cyclic square is, is defined as:

Wherein s (t) is signal, and n is wide The exponent number of adopted Cyclic Moment, conjugation item is m;

Receive the characteristic parameter M of signal s (t)1Theoretical valueSpecific calculating process is such as Under carry out:

It is computed understanding, for 2FSK signals, the signalIt is 1, by least mean-square error grader by 2FSK Out, the expression-form of the grader is signal identification:

In formulaIt is characterized parameter M1Actual value;

Step 3, calculates the broad sense second-order cyclic cumulant for receiving signal s (t)Signal s (t) is received by calculating Characteristic parameterWith utilize least mean-square error grader, and by detecting Generalized Cyclic cumulant Amplitude spectrumSpectral peak number identify bpsk signal and msk signal;The broad sense second order for calculating reception signal s (t) is followed Ring cumulantCarry out as follows:

Receive the characteristic parameter M of signal s (t)2Theoretical valueSpecific formula for calculation is:

By characteristic parameter M2With detection Generalized Cyclic cumulant amplitude spectrumSpectral peak number by bpsk signal Identified with msk signal;

Detection Generalized Cyclic cumulant amplitude spectrumSpectral peak number specific method it is as follows:

Generalized Cyclic cumulant amplitude spectrum is searched for firstMaximum Max and its position it is corresponding circulation frequency Rate α0, by its small neighbourhood [α0000] interior zero setting, wherein δ0It is a positive number, if | α0-fc|/fc< σ0, wherein δ0It is one Close to 0 positive number, fcIt is the carrier frequency of signal, then judges that this signal type is bpsk signal, otherwise continues search for second largest value The Max1 and its corresponding cycle frequency α in position1;If | Max-Max1 |/Max < σ0, and | (α01)/2-fc|/fc< σ0, then Judge that this signal type is msk signal;

Step 4, calculates the broad sense quadravalence cyclic cumulants for receiving signal s (t)Signal s (t) is received by calculating Characteristic parameterWith utilize least mean-square error grader, identify QPSK signals, 8PSK signals, 16QAM signals and 64QAM signals;Calculate the broad sense quadravalence cyclic cumulants for receiving signal s (t)Enter as follows OK:

Receive the characteristic parameter M of signal s (t)3Theoretical valueSpecific calculating process is such as Under:

Understood by calculating, QPSK signalsIt is 1,8PSK signalsIt is 0,16QAM signalsFor 0.5747,64QAM signalBe 0.3580, from there through least mean-square error grader by QPSK, 8PSK, 16QAM and 64QAM signal identifications are out.

Further, the speech control module is provided with Speech signal detection unit, the Speech signal detection unit Signal detecting method includes:

The first step, N is carried out by the radio frequency in Reived_V1 or Reived_V2 or if sampling signalFFTThe FFT fortune of points Calculate, then modulus computing, by preceding N thereinFFT/ 2 points are stored in VectorF, and the amplitude of signal x2 is saved in VectorF Spectrum, x2 is the signal of non-zero if;

Second step, it is N blocks equal Block, N=3,4 that will analyze bandwidth Bs points ... .., each Block will be carried out The a width of Bs/N of band of computing, if to analyze the low-limit frequency of bandwidth Bs for FL, FL=0 here, then block nBlock, n=1...N, Corresponding frequency separation scope is respectively [FL+ (n-1) Bs/N, FL+ (n) Bs/N], by the frequency of corresponding frequency range in VectorF Rate point distributes to each block, and the VectorF point ranges that wherein nBlock divides are [Sn, Sn+kn], wherein knRepresent every section point The number of the Frequency point for obtaining, andWhat is represented is starting point, and fs is that signal is adopted Sample frequency, round (*) represents the computing that rounds up;

3rd step, seeks each Block the energy ∑ of its frequency spectrum | |2, obtain E (n), n=1...N;

4th step, averages to vectorial E

5th step, try to achieve vectorial E variance and

6th step, updates flag bit flag, flag=0, represents that a preceding testing result is no signal, it is this kind of under the conditions of, Only work as σsum>It is judged to currently detected signal during K2, flag is changed into 1;Work as flag=1, represent a preceding testing result to have Signal, it is this kind of under the conditions of, only work as σsum<It is judged to currently be not detected by signal during K1, flag is changed into 0, K1 and K2 for thresholding Value, empirical value is given with theoretical simulation, K2>K1;

7th step, controls whether subsequent demodulation thread etc. is opened according to flag bit:Flag=1, opens subsequent demodulation thread Deng, otherwise close subsequent demodulation thread.

The present invention provide multifunctional wheelchair intelligence control system, be provided with drive recorder, speech control module and Apart from induction module, the reliability of operation is improve, improve the safety in utilization of wheelchair;Intelligent terminal, speech control module With the intelligent level that improve wheelchair apart from induction module, be conducive to improving safety and reliability when wheelchair is walked.

Brief description of the drawings

Fig. 1 is the Structure of intelligent control system schematic diagram of multifunctional wheelchair provided in an embodiment of the present invention;

In figure:1st, main control computer;2nd, drive recorder;3rd, speech control module;4th, apart from induction module;5th, display terminal.

Specific embodiment

In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to Limit the present invention.

Structure of the invention is explained in detail below in conjunction with the accompanying drawings.

As shown in figure 1, the intelligence control system of the multifunctional wheelchair of the embodiment of the present invention includes:Main control computer 1, driving recording Instrument 2, speech control module 3, apart from induction module 4, display terminal 5.

Drive recorder 2, for recording the related information such as image and sound in wheelchair traveling way.

Speech control module 3, for the phonetic order of input operation person, and delivers to main control computer 1 and is processed, and realizes wheelchair The Voice command of mechanical structure.

Apart from induction module 4, for the physical change amount of detection object thing, distance is scaled by by the variable quantity, come Measure the distance from sensor to object.

Display terminal 5, for being shown to the signal that main control computer 1 is processed, for operator's reference;

Main control computer 1, with drive recorder 2, speech control module 3, apart from induction module 4, the wire communication of display terminal 5, Drive recorder 2, speech control module 3, the treatment apart from the input signal of induction module 4 are realized, and is shown in display terminal 5.

Main control computer 1 is additionally provided with GPS module, 4G modules and WIFI module;GPS module realizes the positioning of wheelchair;4G modules The communication with other-end is realized with WIFI module.

Further, the WIFI module is provided with signal phase computing module, the phase calculation of the phase calculation module Method includes:

The n-th road of kth passage signal Sk.nT the expression formula of () is:

Sk.n(t)=exp j { ω0(t+τk+nTs)+1/2μ(t+τk+nTs)2, k=0,1 ...;N=0,1,2 ...

Wherein, ω0It is the initial angular velocity of output waveform, t is the time, and n represents the sequence number of way in every passage, and μ is represented Chirp rate, TsIt is sampling period, τkRepresent the kth channel signal start-phase corresponding time difference;

The phase of the n-th road of kth passage signalMake such as down conversion:

OrderPk.n=μ (τk+nTs)、Qk.n0k+nTs)+1/2μ(τk+nTs)2, then above formula Can turn to:

WhereinOn the basis of phase, when signal attribute parameter is fixed, Pk.n、Qk.nIt is definite value;The waveform on other roads is defeated Go out and regard as one offset phase of increase on the basis of master phaseObtain.

Further, the 4G modules are provided with Combined estimator unit, the combined estimation method bag of the Combined estimator unit Include:Echo signal DOA estimates, ripple is estimated up to signal time delay TD and doppler frequency fd estimates triple combination's method of estimation;

First, to the energy attenuation for receiving of array antenna is obtained into very severe non-targeted reflected signal, through too small , so as to detect and extract weak signal, the wavelet analysis will be received for the decomposition of wave analysis, adaptive threshold selection and reconstruct Weak signal be divided into HFS and low frequency part, by multilayer decompose, by every layer of HFS according to different during reconstruct Threshold value is accepted or rejected, and the part beyond threshold value takes threshold value, and actual value is taken less than the part of threshold value;

Second step, estimates Doppler frequency:By the Testing of Feeble Signals of early stage, signal is improve to what is received Signal to noise ratio target echo in, the differentiated Doppler frequency signals in frequency for containing, by local sine Synchronizing output and receive signal by sync detection circuit with cosine signal carries out orthogonal operations, extracts Doppler frequency;

Specially:By orthogonal derivation and circuit filtering, Doppler frequency part formula such as (1),

In formula, fd=(ω-ω 0)/2 π, comprising Doppler frequency composition;

M represents decay factor of the signal in whole circuit system transmitting procedure in formula, and β j represent aerial transmission The factor, ψ (θ j) represents the function containing target signal direction angle, and ω represents the target containing doppler-frequency component for receiving The frequency of carrier signal of reflected signal, ω 0 represents carrier frequency;

3rd step, combined extracting is carried out to DOA and time delay:Using extracted Doppler frequency and ESPRIT algorithms Middle Doppler frequency carries out matrixing and calculating with the joint property of DOA, signal time delay, so as to extract DOA and Bo Da signals Time delay;

Specially:In Combined estimator DOA and TD, the ESPRIT algorithms for utilizing, last derivation formula such as (2),

Rxx- γ Rxy=APAH- γ AP φ HAH=AP (I- γ φ H) AH (2)

Rxx represents array auto-covariance in formula, and Rxy table array cross covariances, γ represents the corresponding feature of array signal Value, I represents unit matrix, and A represents direction matrix, and AH represents the Hilbert matrix of direction matrix, and P represents the association of information source part Variance matrix, φ H represent the direction matrix containing Doppler frequency composition;

By the Doppler frequency for obtaining, then enter line parameter pairing using ESPRIT algorithms and can obtain DOA and TD.

Further, the main control computer is provided with digital modulation signals module, and the numerical value of the digital modulation signals module is adjusted Include to signal method:

Step one, docking collection of letters s (t) carries out nonlinear transformation;Carry out as follows:

WhereinA represents the amplitude of signal, and a (m) represents letter Number symbol, p (t) represent shaping function, fcThe carrier frequency of signal is represented,The phase of signal is represented, by this Be can obtain after nonlinear transformation:

Step 2, calculates the broad sense single order cyclic cumulants for receiving signal s (t)With broad sense second-order cyclic cumulantThe characteristic parameter of signal s (t) is received by calculatingClassify with using least mean-square error Device, identifies 2FSK signals;Calculate the Generalized Cyclic cumulant for receiving signalCarry out as follows:

WithGeneralized Cyclic square is, is defined as:

Wherein s (t) is signal, and n is wide The exponent number of adopted Cyclic Moment, conjugation item is m;

Receive the characteristic parameter M of signal s (t)1Theoretical valueSpecific calculating process is such as Under carry out:

It is computed understanding, for 2FSK signals, the signalIt is 1, by least mean-square error grader by 2FSK Out, the expression-form of the grader is signal identification:

In formulaIt is characterized parameter M1Actual value;

Step 3, calculates the broad sense second-order cyclic cumulant for receiving signal s (t)Signal s (t) is received by calculating Characteristic parameterWith utilize least mean-square error grader, and by detecting Generalized Cyclic cumulant Amplitude spectrumSpectral peak number identify bpsk signal and msk signal;The broad sense second order for calculating reception signal s (t) is followed Ring cumulantCarry out as follows:

Receive the characteristic parameter M of signal s (t)2Theoretical valueSpecific formula for calculation is:

By characteristic parameter M2With detection Generalized Cyclic cumulant amplitude spectrumSpectral peak number by bpsk signal Identified with msk signal;

Detection Generalized Cyclic cumulant amplitude spectrumSpectral peak number specific method it is as follows:

Generalized Cyclic cumulant amplitude spectrum is searched for firstMaximum Max and its position it is corresponding circulation frequency Rate α0, by its small neighbourhood [α0000] interior zero setting, wherein δ0It is a positive number, if | α0-fc|/fc< σ0, wherein δ0It is one Close to 0 positive number, fcIt is the carrier frequency of signal, then judges that this signal type is bpsk signal, otherwise continues search for second largest value The Max1 and its corresponding cycle frequency α in position1;If | Max-Max1 |/Max < σ0, and | (α01)/2-fc|/fc< σ0, then Judge that this signal type is msk signal;

Step 4, calculates the broad sense quadravalence cyclic cumulants for receiving signal s (t)Signal s (t) is received by calculating Characteristic parameterWith utilize least mean-square error grader, identify QPSK signals, 8PSK signals, 16QAM signals and 64QAM signals;Calculate the broad sense quadravalence cyclic cumulants for receiving signal s (t)Enter as follows OK:

Receive the characteristic parameter M of signal s (t)3Theoretical valueSpecific calculating process is such as Under:

Understood by calculating, QPSK signalsIt is 1,8PSK signalsIt is 0,16QAM signalsFor 0.5747,64QAM signalBe 0.3580, from there through least mean-square error grader by QPSK, 8PSK, 16QAM and 64QAM signal identifications are out.

Further, the speech control module is provided with Speech signal detection unit, the Speech signal detection unit Signal detecting method includes:

The first step, N is carried out by the radio frequency in Reived_V1 or Reived_V2 or if sampling signalFFTThe FFT fortune of points Calculate, then modulus computing, by preceding N thereinFFT/ 2 points are stored in VectorF, and the amplitude of signal x2 is saved in VectorF Spectrum, x2 is the signal of non-zero if;

Second step, it is N blocks equal Block, N=3,4 that will analyze bandwidth Bs points ... .., each Block will be carried out The a width of Bs/N of band of computing, if to analyze the low-limit frequency of bandwidth Bs for FL, FL=0 here, then block nBlock, n=1...N, Corresponding frequency separation scope is respectively [FL+ (n-1) Bs/N, FL+ (n) Bs/N], by the frequency of corresponding frequency range in VectorF Rate point distributes to each block, and the VectorF point ranges that wherein nBlock divides are [Sn, Sn+kn], wherein knRepresent every section point The number of the Frequency point for obtaining, andWhat is represented is starting point, and fs is that signal is adopted Sample frequency, round (*) represents the computing that rounds up;

3rd step, seeks each Block the energy ∑ of its frequency spectrum | |2, obtain E (n), n=1...N;

4th step, averages to vectorial E

5th step, try to achieve vectorial E variance and

6th step, updates flag bit flag, flag=0, represents that a preceding testing result is no signal, it is this kind of under the conditions of, Only work as σsum>It is judged to currently detected signal during K2, flag is changed into 1;Work as flag=1, represent a preceding testing result to have Signal, it is this kind of under the conditions of, only work as σsum<It is judged to currently be not detected by signal during K1, flag is changed into 0, K1 and K2 for thresholding Value, empirical value is given with theoretical simulation, K2>K1;

7th step, controls whether subsequent demodulation thread etc. is opened according to flag bit:Flag=1, opens subsequent demodulation thread Deng, otherwise close subsequent demodulation thread.

Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.

Claims (6)

1. a kind of intelligence control system of multifunctional wheelchair, it is characterised in that the intelligence control system bag of the multifunctional wheelchair Include:
Drive recorder, for recording image and the related information of sound in wheelchair traveling way;
Speech control module, for the phonetic order of input operation person, and delivers to main control computer and is processed, and realizes wheelchair machinery knot The Voice command of structure;
Apart from induction module, for the physical change amount of detection object thing, measured by the way that the variable quantity is scaled into distance from Distance of the sensor to object;
Display terminal, for being shown to the signal that main control computer is processed, for operator's reference;
Main control computer, with drive recorder, speech control module, apart from induction module, display terminal wire communication, realize driving note Record instrument, speech control module, the treatment apart from induction module input signal, and shown in display terminal.
2. the intelligence control system of multifunctional wheelchair as claimed in claim 1, it is characterised in that the main control computer is additionally provided with GPS module, 4G modules and WIFI module;GPS module realizes the positioning of wheelchair;4G modules and WIFI module are realized and other-end Communication.
3. the intelligence control system of multifunctional wheelchair as claimed in claim 2, it is characterised in that the WIFI module is provided with Signal phase computing module, the phase calculation method of the phase calculation module includes:
The n-th road of kth passage signal Sk.nT the expression formula of () is:
Sk.n(t)=expj { ω0(t+τk+nTs)+1/2μ(t+τk+nTs)2, k=0,1 ...;N=0,1,2 ...
Wherein, ω0It is the initial angular velocity of output waveform, t is the time, and n represents the sequence number of way in every passage, and μ represents that frequency modulation is oblique Rate, TsIt is sampling period, τkRepresent the kth channel signal start-phase corresponding time difference;
The phase of the n-th road of kth passage signalMake such as down conversion:
OrderPk.n=μ (τk+nTs)、Qk.n0k+nTs)+1/2μ(τk+nTs)2, then above formula can change For:
WhereinOn the basis of phase, when signal attribute parameter is fixed, Pk.n、Qk.nIt is definite value;The waveform output on other roads is equal Regard one offset phase of increase on the basis of master phase asObtain.
4. the intelligence control system of multifunctional wheelchair as claimed in claim 2, it is characterised in that the 4G modules are provided with connection Estimation unit is closed, the combined estimation method of the Combined estimator unit includes:Echo signal DOA estimates, ripple reaches signal time delay TD Estimate and doppler frequency fd estimates triple combination's method of estimation;
First, to the energy attenuation for receiving of array antenna is obtained into very severe non-targeted reflected signal, by small wavelength-division The decomposition of analysis, adaptive threshold selection and reconstruct are so as to detect and extract weak signal, and the wavelet analysis is weak by what is received Signal is divided into HFS and low frequency part, is decomposed by multilayer, by every layer of HFS according to different threshold values during reconstruct Accepted or rejected, the part beyond threshold value takes threshold value, actual value is taken less than the part of threshold value;
Second step, estimates Doppler frequency:By the Testing of Feeble Signals of early stage, to the letter that improve signal for receiving Make an uproar than target echo in, the differentiated Doppler frequency signals in frequency for containing, by local sinusoidal and remaining String signal synchronizes output and receives signal by sync detection circuit carries out orthogonal operations, extracts Doppler frequency;
Specially:By orthogonal derivation and circuit filtering, Doppler frequency part formula such as (1),
W = a &mu; &Sigma; j = 1 J &beta; j &psi; ( &theta; j ) c o s ( &omega; - &omega; 0 ) t - - - ( 1 )
In formula, fd=(ω-ω 0)/2 π, comprising Doppler frequency composition;
M represents decay factor of the signal in whole circuit system transmitting procedure in formula, and β j represent aerial transmission factor, ψ (θ j) represents the function containing target signal direction angle, and ω represents the reflection of the target containing doppler-frequency component for receiving The frequency of carrier signal of signal, ω 0 represents carrier frequency;
3rd step, combined extracting is carried out to DOA and time delay:Using many in extracted Doppler frequency and ESPRIT algorithms General Le frequency carries out matrixing and calculating with the joint property of DOA, signal time delay, so as to extract DOA and Bo Da signal time delay;
Specially:In Combined estimator DOA and TD, the ESPRIT algorithms for utilizing, last derivation formula such as (2),
Rxx- γ Rxy=APAH- γ AP φ HAH=AP (I- γ φ H) AH (2)
Rxx represents array auto-covariance in formula, and Rxy table array cross covariances, γ represents the corresponding characteristic value of array signal, I Unit matrix is represented, A represents direction matrix, and AH represents the Hilbert matrix of direction matrix, and P represents the covariance of information source part Matrix, φ H represent the direction matrix containing Doppler frequency composition;
By the Doppler frequency for obtaining, then enter line parameter pairing using ESPRIT algorithms and can obtain DOA and TD.
5. the intelligence control system of multifunctional wheelchair as claimed in claim 2, it is characterised in that the main control computer is provided with number Word modulated signal module, the numerical value of the digital modulation signals module is adjusted to signal method to be included:
Step one, docking collection of letters s (t) carries out nonlinear transformation;Carry out as follows:
f &lsqb; s ( t ) &rsqb; = s ( t ) * l n | s ( t ) | | s ( t ) | = s ( t ) c ( t )
WhereinA represents the amplitude of signal, and a (m) represents signal Symbol, p (t) represents shaping function, fcThe carrier frequency of signal is represented,The phase of signal is represented, by the non-thread Property conversion after can obtain:
f &lsqb; s ( t ) &rsqb; = s ( t ) l n | A a ( m ) | | A a ( m ) | ;
Step 2, calculates the broad sense single order cyclic cumulants for receiving signal s (t)With broad sense second-order cyclic cumulantThe characteristic parameter of signal s (t) is received by calculatingClassify with using least mean-square error Device, identifies 2FSK signals;Calculate the Generalized Cyclic cumulant for receiving signalCarry out as follows:
GC s , 10 &beta; = GM s , 10 &beta; ;
GC s , 21 &beta; = GM s , 21 &beta; ;
WithGeneralized Cyclic square is, is defined as:
Wherein s (t) is signal, and n is followed for broad sense The exponent number of ring square, conjugation item is m;
Receive the characteristic parameter M of signal s (t)1Theoretical valueSpecific calculating process is entered as follows OK:
GC s , 10 &beta; = 1 N &Sigma; k = 1 N a ( k ) | l n | a ( k ) | |
GC s , 21 &beta; = 1 N &Sigma; k = 1 N a ( k ) a * ( k ) | l n | a ( k ) | | 2
It is computed understanding, for 2FSK signals, the signalIt is 1, by least mean-square error grader by 2FSK signals Identify, the expression-form of the grader is:
E 1 = m i n ( M t h e o r y 1 - M a c t u a l 1 ) 2
In formulaIt is characterized parameter M1Actual value;
Step 3, calculates the broad sense second-order cyclic cumulant for receiving signal s (t)The spy of signal s (t) is received by calculating Levy parameterWith utilize least mean-square error grader, and by detecting Generalized Cyclic cumulant amplitude spectrumSpectral peak number identify bpsk signal and msk signal;Calculate the broad sense second-order cyclic accumulation for receiving signal s (t) AmountCarry out as follows:
GC s , 20 &beta; = GM s , 20 &beta; ;
Receive the characteristic parameter M of signal s (t)2Theoretical valueSpecific formula for calculation is:
GC s , 20 &beta; = 1 N &Sigma; k = 1 N a ( k ) a ( k ) | l n | a ( k ) | | 2 ;
By characteristic parameter M2With detection Generalized Cyclic cumulant amplitude spectrumSpectral peak number by bpsk signal and MSK Signal identification is out;
Detection Generalized Cyclic cumulant amplitude spectrumSpectral peak number specific method it is as follows:
Generalized Cyclic cumulant amplitude spectrum is searched for firstMaximum Max and its corresponding cycle frequency α in position0, By its small neighbourhood [α0000] interior zero setting, wherein δ0It is a positive number, if | α0-fc|/fc< σ0, wherein δ0For one it is close 0 positive number, fcIt is the carrier frequency of signal, then judges that this signal type is bpsk signal, otherwise continues search for second largest value Max1 And its corresponding cycle frequency α in position1;If | Max-Max1 |/Max < σ0, and | (α01)/2-fc|/fc< σ0, then judge This signal type is msk signal;
Step 4, calculates the broad sense quadravalence cyclic cumulants for receiving signal s (t)The spy of signal s (t) is received by calculating Levy parameterWith utilize least mean-square error grader, identify QPSK signals, 8PSK signals, 16QAM signals and 64QAM signals;Calculate the broad sense quadravalence cyclic cumulants for receiving signal s (t)Enter as follows OK:
GC s , 40 &beta; = GM s , 40 &beta; - 3 ( GM s , 20 &beta; / 2 ) 2 ;
Receive the characteristic parameter M of signal s (t)3Theoretical valueSpecific calculating process is as follows:
GC s , 40 &beta; = 1 N &Sigma; k = 1 N &lsqb; a ( k ) &rsqb; 4 | l n | a ( k ) | | 4 - 3 &lsqb; 1 N &Sigma; k = 1 N &lsqb; a ( k ) &rsqb; 2 | l n | a ( k ) | | 2 &rsqb; 2 ;
Understood by calculating, QPSK signalsIt is 1,8PSK signalsIt is 0,16QAM signalsFor 0.5747,64QAM signalBe 0.3580, from there through least mean-square error grader by QPSK, 8PSK, 16QAM and 64QAM signal identifications are out.
6. the intelligence control system of multifunctional wheelchair as claimed in claim 1, it is characterised in that the speech control module sets Speech signal detection unit is equipped with, the signal detecting method of the Speech signal detection unit includes:
The first step, N is carried out by the radio frequency in Reived_V1 or Reived_V2 or if sampling signalFFTThe FFT computings of points, Then modulus computing, by preceding N thereinFFT/ 2 points are stored in VectorF, and the amplitude spectrum of signal x2 is saved in VectorF, X2 is the signal of non-zero if;
Second step, it is N blocks equal Block, N=3,4 that will analyze bandwidth Bs points ... .., each Block will carry out computing The a width of Bs/N of band, if to analyze the low-limit frequency of bandwidth Bs for FL, FL=0 here, then block nBlock, n=1...N, institute are right The frequency separation scope answered is respectively [FL+ (n-1) Bs/N, FL+ (n) Bs/N], by the Frequency point of corresponding frequency range in VectorF Each block is distributed to, the VectorF point ranges that wherein nBlock divides are [Sn, Sn+kn], wherein knWhat every section of expression was got The number of Frequency point, andWhat is represented is starting point, fs be signal sampling frequently Rate, round (*) represents the computing that rounds up;
3rd step, seeks each Block the energy ∑ of its frequency spectrum | |2, obtain E (n), n=1...N;
4th step, averages to vectorial E
5th step, try to achieve vectorial E variance and
6th step, updates flag bit flag, flag=0, represents that a preceding testing result is no signal, it is this kind of under the conditions of, only Work as σsum>It is judged to currently detected signal during K2, flag is changed into 1;Work as flag=1, represent a preceding testing result to there is letter Number, it is this kind of under the conditions of, only work as σsum<It is judged to currently be not detected by signal during K1, flag is changed into 0, K1 and K2 for threshold value, Empirical value is given with theoretical simulation, K2>K1;
7th step, controls whether subsequent demodulation thread is opened according to flag bit:Flag=1, opens subsequent demodulation thread, otherwise closes Close subsequent demodulation thread.
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