CN107168198A - A kind of active intervention type method for controlling intelligent wheelchair and device - Google Patents
A kind of active intervention type method for controlling intelligent wheelchair and device Download PDFInfo
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- CN107168198A CN107168198A CN201710333420.5A CN201710333420A CN107168198A CN 107168198 A CN107168198 A CN 107168198A CN 201710333420 A CN201710333420 A CN 201710333420A CN 107168198 A CN107168198 A CN 107168198A
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- control
- wheelchair
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
Abstract
The present invention provides a kind of active intervention type method for controlling intelligent wheelchair, and wheelchair has two kinds of control models：Active Control Mode, user is controlled manually by control panel, and control panel is provided with button and control stick；Intelligent control mode, the signal gathered by external environment condition sensor is automatically controlled；Automatically into intelligent control mode during startup wheelchair；Under intelligent control mode, real-time judge whether there is abnormal conditions, if in the presence of, alarm, prompting user's progress active intervention；Enter Active Control Mode when user has input signal to control panel；Under Active Control Mode, the amplitude of joystick signal is respectively less than default amplitude threshold within a period of time, then automatically switches to intelligent control mode.The present invention is on the basis of intelligent control, and supplement actively intervenes means, and automatic decision alarm is carried out to unusual condition, reminds user actively to intervene, and manipulates active control module to control wheelchair to run, to avoid the generation of danger, so as to ensure security.
Description
Technical field
The invention belongs to intelligent wheel chair accessory design field, more particularly to a kind of active intervention type method for controlling intelligent wheelchair
And device.
Background technology
With the continuous progress of information and communication technology (ICT), science and technology is being dissolved into our daily life, and brings nothing
The facility of limit with it is comfortable.Serious with world population ages, report shows the ratio of aging population via 1994
9% reach 2014 12%, it is contemplated that be up to 21% to the year two thousand fifty.Serious aging situation and exist including disabled person
The quantity of interior handicapped crowd is increasing, and wheelchair is used as the important generation of the handicapped crowd such as handicapped and elderly
Step instrument, designing more preferable intelligent wheel chair turns into active demand.
, can only be by legacy equipments such as control stick, buttons to wheel and existing intelligent wheel chair controller control form is single
Chair is controlled, lack of wisdom, and control interface is closed, and which increase the difficulty that external control signal accesses wheelchair.Now
Man-machine interaction mode it is varied, while with the development of sensor technology, Intellisense equipment is also more and more, therefore sets
Counting the intelligent wheel chair control device of a open interface has great application value.
But the intelligent also deficiency of current various sensors and awareness apparatus, the single awareness apparatus outside is realized
The intelligent control of wheelchair also acquires a certain degree of difficulty, while security is also difficult to ensure that.
The content of the invention
The technical problem to be solved in the present invention is：A kind of active intervention type method for controlling intelligent wheelchair and device are provided,
On the basis of intelligent control, supplement actively intervenes means, so as to ensure security.
The present invention is that the technical scheme that solution above-mentioned technical problem is taken is：A kind of active intervention type intelligent wheel chair control
Method, it is characterised in that：It comprises the following steps：
Wheelchair has two kinds of control models：Active Control Mode, user is controlled manually by control panel, on control panel
Provided with button and control stick；Intelligent control mode, the signal gathered by external environment condition sensor is automatically controlled；
Automatically into intelligent control mode during startup wheelchair；Under intelligent control mode, real-time judge whether there is abnormal feelings
Condition, if in the presence of, alarm, prompting user's progress active intervention；
Enter Active Control Mode when user has input signal to control panel；Under Active Control Mode, at one section
The amplitude of joystick signal is respectively less than default amplitude threshold in time, then automatically switches to intelligent control mode；
Described abnormal conditions include：1) data and master control mould of signal transmission abnormality, i.e. external environment condition sensor collection
Signal transmission between block occurs abnormal；2) external environment condition sensing data is abnormal, i.e. the data of external environment condition sensor collection
Distortion, or judge that current environment is excessively complicated according to the data of collection composition；3) wheelchair running status is abnormal, i.e. wheelchair speed
Too fast or angle of inclination is excessive.
As stated above, the described specific determination methods of signal transmission abnormality are as follows：
Wireless connection between external environment condition sensor and described main control module；The signal strength values R of wireless connection is inquired about,
If R is less than threshold value Rthres1Then judge signal transmission abnormality；If R is in threshold value Rthres1With threshold value Rthres2Between, and in period T
The number of times K that this interior situation occurs is more than threshold kthres, then signal transmission abnormality is judged.
As stated above, the extremely specific determination methods of described external environment condition sensing data are as follows：
Described external environment condition sensor includes ultrasonic distance-measuring sensor, infrared distance sensor and camera；Will be super
The obstacle distance that sound ranging sensor is gathered with infrared distance sensor compares, when obtained obstacle distance difference is big
In default range difference threshold value, then external environment condition sensing data distortion abnormality is judged；When the obstacle distance of collection is excessively near, hinder
Hinder thing quantity excessive, then judge that environment is excessively complicated abnormal.
As stated above, under described Active Control Mode, the amplitude of joystick signal is respectively less than pre- within a period of time
If amplitude threshold, then automatically switch to intelligent control mode, specific determination methods are as follows：
The analog signal x and y of 2 control directions of control stick are obtained, x and y is calculated respectively and is believed with default respective middle position
Number mx and my difference；Judge in the range of certain time, described difference then switches to intelligence in defined threshold range
Can control model.
A kind of active intervention type intelligent wheel chair control device, it is characterised in that：It include main control module, and respectively with master
Control external environment condition sensor, wheelchair monitoring running state module, control panel, alarm display module, the power supply mould of module connection
Block and wheelchair motor；Described control panel is provided with transfer the files button, shift knob and control stick；Described main control module
For the active intervention type method for controlling intelligent wheelchair described in perform claim requirement 1.
By said apparatus, described external environment condition sensor is connected by wireless communication module with described main control module.
By said apparatus, described wheelchair monitoring running state module includes velocity measuring module and acceleration transducer.
By said apparatus, described alarm display module includes buzzer and LED display module.
By said apparatus, described power module includes rechargeable battery, and the charging circuit that is linked with rechargeable battery and
Mu balanced circuit.
Beneficial effects of the present invention are：On the basis of intelligent control, supplement actively intervenes means, and unusual condition is carried out
Automatic decision is alarmed, and reminds user actively to intervene, and manipulates active control module to control wheelchair to run, to avoid the hair of danger
It is raw, so as to ensure security.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is the workflow diagram of one embodiment of the invention.
Fig. 3 is the flow chart that active control mode switch is intelligent control mode.
Embodiment
With reference to instantiation and accompanying drawing, the present invention will be further described.
As shown in figure 1, the present invention provides a kind of active intervention type intelligent wheel chair control device, including main control module, and
External environment condition sensor, wheelchair monitoring running state module, control panel, the alarm indication mould being connected respectively with main control module
Block, power module and wheelchair motor；Described control panel is provided with transfer the files button, shift knob and control stick；It is described
Main control module be used for perform following active intervention type method for controlling intelligent wheelchair.External environment condition sensor passes through radio communication mold
Block is connected with described main control module.Wheelchair monitoring running state module includes velocity measuring module and acceleration transducer.
Alarm display module includes buzzer and LED display module.Can be by buzzer and LED when there are abnormal conditions
To remind user to take care, and LED can show the current gear stages of wheelchair.The power module connects including power supply
Mouth, charging circuit, rechargeable battery, 5V mu balanced circuits and 24V mu balanced circuit voltage stabilizings, power supply pass through 5V mu balanced circuits and 24V voltage stabilizings
It is powered respectively to microcontroller and motor after circuit voltage stabilizing.The power interface and left and right motor interface are using current electricity
The general-purpose interface of wheelchair, to increase the versatility of control device.
It is connected furthermore it is possible to set up general-purpose interface with main control module, is easy to other external control deviceses to access, is can be achieved many
The mode of kind makes wheelchair more intelligent the Collaborative Control of wheelchair.
A kind of active intervention type method for controlling intelligent wheelchair, as shown in Fig. 2 it comprises the following steps：
Wheelchair has two kinds of control models：Active Control Mode, user is controlled manually by control panel, on control panel
Provided with button and control stick；Intelligent control mode, the signal gathered by external environment condition sensor is automatically controlled；
Automatically into intelligent control mode during startup wheelchair；Under intelligent control mode, real-time judge whether there is abnormal feelings
Condition, if in the presence of, alarm, prompting user's progress active intervention；
Enter Active Control Mode when user has input signal to control panel；Under Active Control Mode, at one section
The amplitude of joystick signal is respectively less than default amplitude threshold in time, then automatically switches to intelligent control mode；
Described abnormal conditions include：1) data and master control mould of signal transmission abnormality, i.e. external environment condition sensor collection
Signal transmission between block occurs abnormal；2) external environment condition sensing data is abnormal, i.e. the data of external environment condition sensor collection
Distortion, or judge that current environment is excessively complicated according to the data of collection composition；3) wheelchair running status is abnormal, i.e. wheelchair speed
Too fast or angle of inclination is excessive.
External environment condition sensor monitors the ambient conditions around wheelchair in real time, and master control mould is sent to by wireless communication module
Block, this situation is analyzed, and is carried out intelligent control to wheelchair if without exception, when there are abnormal conditions, is then sent alarm
User is reminded to carry out active intervention.
The premise that radio communication is normally controlled for external environment condition sensor to wheelchair, therefore when radio communication is abnormal
When, need user's actively intervention, it is impossible to which wheelchair is controlled by intelligent control mode.The specific determination methods of signal transmission abnormality are such as
Under：Wireless connection between external environment condition sensor and described main control module；The signal strength values R of wireless connection is inquired about, if R is small
In threshold value Rthres1Then think that wireless communication link is very poor, data transfer easily fails, judge signal transmission abnormality；If R is in threshold value
Rthres1With threshold value Rthres2Between, and the number of times K that this situation occurs in period T is more than threshold kthres, then channel radio is shown
Believe that link is unstable, data transfer easily produces packet loss, judges signal transmission abnormality.
Described external environment condition sensor includes ultrasonic distance-measuring sensor, infrared distance sensor and camera.For
Ultrasonic distance-measuring sensor and infrared distance sensor are easier to be interfered because the absorption of environment is reflected etc., particularly in complicated ring
Under border, measurement data reliability itself is substantially reduced, therefore is judged with reference to both measurement data, if ultrasonic ranging is sensed
Difference between the obstacle distance of device measurement and the obstacle distance of infrared distance sensor measurement is more than the threshold value set then
Think that measurement data exists in itself abnormal.Simultaneously using multi-sensor Fusion Algorithm combination visually-perceptible system conventional at present
Measurement data of system, ultrasonic distance-measuring sensor and infrared distance sensor etc. carries out comprehensive descision to wheelchair surrounding environment, knows
Whether whether other wheelchair is excessively near apart from barrier, whether there is multiple barriers around wheelchair and have personnel to move equiprobable danger
Dangerous situation condition.The extremely specific determination methods of external environment condition sensing data are as follows：Ultrasonic distance-measuring sensor and infrared distance measurement are passed
The obstacle distance of sensor collection compares, and when obtained obstacle distance difference is more than default range difference threshold value, then judges
External environment condition sensing data distortion abnormality；When the obstacle distance of collection is excessively near, barrier quantity is excessive, then judges environment mistake
In complicated abnormal.
Wheelchair speed V is obtained by speed measuring module, if speed V is more than threshold speed Vthres, then it is assumed that wheelchair excessive velocities；
Logical acceleration transducer obtains acceleration signal ax, ay, az, calculate the resultant acceleration a of x-axis and y-axishIf, resultant acceleration ahGreatly
In resultant acceleration threshold value ahthres, and z-axis acceleration azMore than z-axis acceleration rate threshold azthres, then it is assumed that wheelchair has the danger of overturning
Danger；If speed and acceleration are no more than threshold value, then it is assumed that wheelchair running status is normal.Wheelchair excessive velocities or wheelchair may
Overturn, think that wheelchair running status is abnormal, it is necessary to user is intervened, active control wheelchair is to avoid the hair of danger
It is raw.
Under Active Control Mode, the amplitude of joystick signal is respectively less than default amplitude threshold within a period of time, then certainly
Dynamic to switch to intelligent control mode, specific determination methods are as follows：
The analog signal x and y of 2 control directions of control stick are obtained, x and y is calculated respectively and is believed with default respective middle position
Number mx and my difference；Judge in the range of certain time, described difference then switches to intelligence in defined threshold range
Can control model.
More specifically, as shown in figure 3,1) obtaining the analog signal x and y of wheelchair two control directions of control stick, and respectively
Calculate x and y and respective median signal mx and my difference.
2) judge difference whether in defined threshold range, i.e., | x-mx |<xthresAnd | y-my |<ythres, if it is not, then
Represent that control stick input signal is larger, therefore counter Count is reset, and external signal control mark is set to false；If
It is then expression control stick input signal very little, therefore counter Count is added one.
3) judge whether counter Count exceeds threshold value Cthres, if not, then it is assumed that although joystick signal very little can not
Determine if stabilization, therefore will external signal control mark be set to false；If, then it is assumed that joystick signal is at one section
Equal very little in time, therefore thus it is believed that control stick controls mark to be set to without signal input, therefore by external signal really
True, is controlled by external control signal to wheelchair, while to prevent that counter Count numerical value is excessive, being set to
Its threshold value Cthres。
The present invention takes the initiative the control mode of intervention, by the initiative of people and the powerful perception control ability of external equipment
It is combined, generally wheelchair can obtain the situation around wheelchair by external environment condition sensor, pass through radio communication mold
Block realizes the intelligent control of wheelchair, at the same when wireless connection is unstable, wheelchair running status exception and external equipment exist it is blind
When area or abnormal perception data, control system may carry out erroneous decision, it is therefore desirable to which user intervenes rapidly, active control
The running status of wheelchair, to avoid the generation of danger.External signal control and the combination of active control two ways, can make wheelchair
It is more intelligent, allow control of the user to wheelchair more to facilitate, while more improving the security of intelligent wheel chair.
Above example is merely to illustrate the design philosophy and feature of the present invention, and its object is to make technology in the art
Personnel can understand present disclosure and implement according to this, and protection scope of the present invention is not limited to above-described embodiment.So, it is all according to
The equivalent variations made according to disclosed principle, mentality of designing or modification, within protection scope of the present invention.
Claims (9)
1. a kind of active intervention type method for controlling intelligent wheelchair, it is characterised in that：It comprises the following steps：
Wheelchair has two kinds of control models：Active Control Mode, user is controlled manually by control panel, and control panel is provided with
Button and control stick；Intelligent control mode, the signal gathered by external environment condition sensor is automatically controlled；
Automatically into intelligent control mode during startup wheelchair；Under intelligent control mode, real-time judge whether there is abnormal conditions, if
In the presence of, then alarm, prompting user's progress active intervention；
Enter Active Control Mode when user has input signal to control panel；Under Active Control Mode, in a period of time
The amplitude of interior joystick signal is respectively less than default amplitude threshold, then automatically switches to intelligent control mode；
Described abnormal conditions include：1）Data and the main control module of signal transmission abnormality, i.e. external environment condition sensor collection it
Between signal transmission occur it is abnormal；2）External environment condition sensing data is abnormal, i.e. the data distortion of external environment condition sensor collection,
Or judge that current environment is excessively complicated according to the data of collection composition；3）Wheelchair running status is abnormal, i.e. wheelchair excessive velocities
Or angle of inclination is excessive.
2. active intervention type method for controlling intelligent wheelchair according to claim 1, it is characterised in that：Described signal transmission
Abnormal specific determination methods are as follows：
Wireless connection between external environment condition sensor and described main control module；The signal strength values R of wireless connection is inquired about, if R
Less than threshold value Rthres1Then judge signal transmission abnormality；If R is in threshold value Rthres1With threshold value Rthres2Between, and in period T this
The number of times K that situation occurs is more than threshold kthres, then signal transmission abnormality is judged.
3. active intervention type method for controlling intelligent wheelchair according to claim 1, it is characterised in that：Described external environment condition
The extremely specific determination methods of sensing data are as follows：
Described external environment condition sensor includes ultrasonic distance-measuring sensor, infrared distance sensor and camera；By ultrasonic wave
The obstacle distance that distance measuring sensor is gathered with infrared distance sensor compares, when obtained obstacle distance difference is more than in advance
If range difference threshold value, then judge external environment condition sensing data distortion abnormality；When the obstacle distance of collection is excessively near, barrier
Quantity is excessive, then judges that environment is excessively complicated abnormal.
4. active intervention type method for controlling intelligent wheelchair according to claim 1, it is characterised in that：Described active control
Under pattern, the amplitude of joystick signal is respectively less than default amplitude threshold within a period of time, then automatically switches to intelligent control
Pattern, specific determination methods are as follows：
The analog signal x and y of 2 control directions of control stick are obtained, x and y and default respective median signal mx is calculated respectively
With my difference；Judge in the range of certain time, described difference switches to intelligent control in defined threshold range, then
Molding formula.
5. a kind of active intervention type intelligent wheel chair control device, it is characterised in that：It include main control module, and respectively with master control
External environment condition sensor, wheelchair monitoring running state module, control panel, alarm display module, the power module of module connection
With wheelchair motor；Described control panel is provided with transfer the files button, shift knob and control stick；Described main control module is used
In the active intervention type method for controlling intelligent wheelchair described in perform claim requirement 1.
6. active intervention type intelligent wheel chair control device according to claim 5, it is characterised in that：Described external environment condition
Sensor is connected by wireless communication module with described main control module.
7. active intervention type intelligent wheel chair control device according to claim 5, it is characterised in that：Described wheelchair operation
State monitoring module includes velocity measuring module and acceleration transducer.
8. active intervention type intelligent wheel chair control device according to claim 5, it is characterised in that：Described alarm indication
Module includes buzzer and LED display module.
9. active intervention type intelligent wheel chair control device according to claim 5, it is characterised in that：Described power module
Including rechargeable battery, and the charging circuit and mu balanced circuit linked with rechargeable battery.
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| CN201710333420.5A CN107168198A (en) | 2017-05-12 | 2017-05-12 | A kind of active intervention type method for controlling intelligent wheelchair and device |
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| CN201710333420.5A CN107168198A (en) | 2017-05-12 | 2017-05-12 | A kind of active intervention type method for controlling intelligent wheelchair and device |
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Cited By (3)
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| CN112451243A (en) * | 2020-12-10 | 2021-03-09 | 广州暖晴医疗科技有限公司 | Wheelchair control system and method |
| CN113101075A (en) * | 2021-03-09 | 2021-07-13 | 武汉理工大学 | Multifunctional intelligent wheelchair control system and control method |
| CN117075618A (en) * | 2023-10-12 | 2023-11-17 | 小舟科技有限公司 | Wheelchair automatic control method, device, terminal and medium based on anomaly monitoring |
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Application publication date: 20170915 |