CN108272565A - Intelligent and safe wheelchair and its intelligent and safe control method - Google Patents
Intelligent and safe wheelchair and its intelligent and safe control method Download PDFInfo
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- CN108272565A CN108272565A CN201810105200.1A CN201810105200A CN108272565A CN 108272565 A CN108272565 A CN 108272565A CN 201810105200 A CN201810105200 A CN 201810105200A CN 108272565 A CN108272565 A CN 108272565A
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- 230000009471 action Effects 0.000 claims abstract description 4
- 230000000007 visual effect Effects 0.000 claims description 26
- 238000001514 detection method Methods 0.000 claims description 18
- 230000004888 barrier function Effects 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000007613 environmental effect Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 7
- 238000012360 testing method Methods 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000005856 abnormality Effects 0.000 claims description 2
- 230000037237 body shape Effects 0.000 claims description 2
- 238000004891 communication Methods 0.000 claims description 2
- 238000011217 control strategy Methods 0.000 claims description 2
- 230000005622 photoelectricity Effects 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 238000007689 inspection Methods 0.000 claims 1
- 238000011897 real-time detection Methods 0.000 abstract description 2
- 230000032683 aging Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000000744 eyelid Anatomy 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
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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
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/045—Rear wheel drive
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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
-
- 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
- A61G5/1051—Arrangements for steering
-
- 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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
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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
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of intelligent and safe wheelchairs; driving wheel speed is controlled by double closed-loop control system; speed is accurately controlled with realizing; the control of user's control stick and 2 kinds of control modes of independent navigation are provided simultaneously; whether automatic obstacle-avoiding and real-time detection user's body situation are abnormal and take the intelligent and safe wheelchair of corresponding safeguard measure, to give the trip of the elderly, physical disabilities to provide convenient and safety guarantee.Compared with traditional push chairs, which can detect the physical condition of user, when judging user's body situation exception, send out alarm in time, stop motor action, safe, be particularly suitable for the elderly and physical disabilities use.
Description
Technical field：
The invention belongs to Intelligent auxiliary equipment technical field, more particularly to a kind of intelligent and safe wheelchair further relates to the intelligence of the wheelchair
It can method of controlling security.
Background technology：
It is predicted according to the United Nations, the worlds 1990-2020 aged average year speedup degree is 2.5%, same period China the elderly
The increasing velocity of mouth is 3.3%, and aging speed is faster than world's aging speed.Compared with other countries, Chinese society's population
Aging degree is high, has stepped into aging society, at the same time the population of also physical disabilities nearly 60,000,000.With
The progress of Chinese society civilization ensures and improves the quality of life of the disadvantaged group such as the elderly and physical disabilities,
Increasingly by the common concern of personages of various circles of society.Numerous studies show effectively to enhance the row of the elderly and physical disabilities
Kinetic force, not only so that their daily life becomes convenient, but also the mental health to them, self-assessment, the state of mind
Also there is far-reaching influence.Therefore, a kind of wheelchair of easily riding instead of walk that can be provided for the elderly comes into being, and has obtained extensive
It promotes and applies.Wheelchair is manually, to rotate a handwheel by people and advance, this needs consumes one's strength, and is not suitable for those bodies earlier
Power is too weak and physical disabilities use.Then invented electric wheelchair again, this electric wheelchair generally comprise car body, front and back wheel,
Driving motor, operating lever and motor driver, driving motor are advanced by storage battery power supply, driving trailing wheel, the people being sitting on wheelchair
Only need pressing operations bar, you can realize the advance, retrogressing and left and right turning of wheelchair.Electric wheelchair than manual wheelchair have it is prodigious into
Step, but there are still some problems, for example, some the elderlys reaction is slower, needs the safety of the barrier avoiding function assisted protection user.
Simultaneously because when manipulating wheelchair some fortuitous events may occur for user, need intelligent and safe wheelchair that can identify user's
Physical condition notes abnormalities in time, and takes safeguard measure.Therefore, it is necessary to develop a kind of operation it is more convenient, using more pacifying
Full novel intelligent safe wheelchair, to meet the needs of this kind of crowd.
Being disclosed in the information of the background technology part, it is only intended to increase understanding of the overall background of the invention, without answering
It has been the prior art well known to persons skilled in the art when being considered as recognizing or imply that the information is constituted in any form.
Invention content：
The purpose of the present invention is to provide a kind of intelligent and safe wheelchairs, and and the wheelchair intelligent and safe control method, to
Overcome above-mentioned defect in the prior art.
To achieve the above object, the present invention provides a kind of intelligent and safe control method of intelligent and safe wheelchair,
It is characterized in that：It carries out in accordance with the following steps：
S1：Environment virtual map build, user by intelligent and safe wheelchair along in indoor environment can travelling route carry out one week, depending on
Feel that sensor scanning indoor environment carries out the structure of virtual map automatically, the environmental map of structure is mapped to flat-panel monitor；
S2：User selects control mode, enters S3 when user selects independent navigation pattern, when user selects control stick controlling party
Enter S4 when formula；
S3：Automatic push travelling route, user open environmental map on the flat display, are needed in flat-panel monitor with householder
On the map of display, the position intended to move to is clicked；The destination locations that fan-free built-in industrial control machine is selected according to user, hair
Go out navigational control signals, the navigational control signals pass sequentially through tablet computer and industrial control computer is transferred to bottom core
Control module, into S5；
S4：Stick position information is obtained by calculation in user's manipulation and control, bottom core control system, and analysis obtains user's control
System is intended to and enters S5；
S5：User's control is intended to be converted into the control of the speed and direction of left and right motor by wheelchair walking bottom kernel control module
Information；Then the control of bottom kernel control module is according to the above-mentioned control information-driven being calculated or so two motors, in turn
Supporting roller rotation is driven, wheelchair is made to reach the position that user specifies；
S6：Intelligent and safe wheelchair control system examines the ambient condition information of intelligent and safe wheelchair by laser obstacle avoidance module
It surveys, control signal of the user to motor is adjusted when there is barrier, ensures user security；
S7：Intelligent and safe wheelchair control system detects the body shape of user by above-mentioned user's body condition monitoring system in real time
State stops motor action, and send out alarm signal when user's body occurs abnormal.
The technical solution that the present invention further limits is：
Preferably, in above-mentioned technical proposal, before step S1 starts, System self-test, the detection of intelligent and safe wheelchair system are additionally provided with
Cell voltage, solenoid braking state, left and right motor cable；Testing result is aobvious by the flat-panel monitor of intelligent and safe wheelchair
Show.
Preferably, in above-mentioned technical proposal, for control stick control model, STM8 control sticks can turn to all directions
It is dynamic, and the location information of control stick is converted to by information of voltage by Hall element, then use AD by the voltage of Hall element
Information is converted to digital quantity, and the control that user is obtained by the location information of control stick is intended to.
Preferably, in above-mentioned technical proposal, for independent navigation pattern, system needs first pass through visual sensor in advance
Kinect models indoor map, and Kinect cameras can be constantly tracked the object in its coverage, according to known
Information and three-dimensional data, accurate measurement can be made, draw out the static map in entire room；It is established by FPD
Map, user specifies destination by map, and then control system cooks up routing information and obtains controlling plan accordingly automatically
Slightly, then motor control module driving direct current generator movement.
Preferably, in above-mentioned technical proposal, laser obstacle avoidance module, user's body state monitoring module and system failure detection
Module, infrared distance measurement are the principles using range of triangle, and the infrared transmitter of intelligent and safe wheelchair is red according to certain angle transmitting
Outer light beam, after encountering object, light can reversely return, after detecting reflected light, by the geometric triangulation relationship in structure, just
Obstacle distance can be calculated；User's body state monitoring module, visual sensor Kinect can be by collected users
Image information sends industrial control computer to, is analyzed user images by fan-free built-in industrial control machine.
Preferably, in above-mentioned technical proposal, fan-free built-in industrial control machine is used based on Haar features first
AdaBoost cascade classifier algorithms, and analyzed according to the image that the algorithm acquires visual sensor, the visual sensing
Device can obtain the depth information of image, and for carrying out user's body state-detection, user images are acquired by data pick-up
Information, by the physical condition for identifying user eye condition adjudgement user.When recognizing user's body abnormal state, stop automatically
Only motor works, by sending out alarm.User's body state is persistently detected simultaneously, if detecting user's body still in abnormal shape
State then carries out remote alarms by fan-free built-in industrial control machine.；Wheelchair controller has various faults detection function, including
Electric voltage exception detects, solenoid brake failure, controller failure, and left and right motor cable disconnects failure；When controller detects event
When barrier, it will be automatically stopped output PWM wave driving motor, wait for and restore driving motor after releasing failure manually；
The object of the present invention is to provide one kind having two kinds of operation modes of control stick and independent navigation, automatic obstacle-avoiding and in real time detection
Whether user's body situation is abnormal and takes the intelligent and safe wheelchair of corresponding safeguard measure, to give the elderly, physical disabilities
Trip provide convenient and safety guarantee.
A kind of intelligent and safe wheelchair, including electric wheelchair system, electric wheelchair system is mainly by wheelchair car body, two drivings
Trailing wheel, two servo-actuated front-wheels, accumulator, operating levers, speed measuring module, driving motor, which is characterized in that further include intelligent and safe wheel
Chair system, the intelligent and safe wheelchair system is mainly by bottom kernel control module, fan-free embedded industry control, visual sensing
Device, laser obstacle avoidance module and control panel composition；
The control unit of bottom kernel control module communication connection driving motor, control stick, fan-free built-in industrial control machine；It manipulates
Panel, visual sensor communicate the fan-free built-in industrial control machine of connection respectively；
Two driving trailing wheels are installed with direct current generator, input the desired speed of motor operation as the case may be, utilize photoelectricity
The real-time rotating speed of the real-time rotary speed information of encoder perceptual computing wheel, given rotating speed and feedback does difference operation, and is input to ratio
Example integrating rate controller, output order current value；
Rotor real-time current is monitored and is converted into digital information through A/D by Hall sensor, and electric current is carried out with feedback current
Compare and be input in PI current controllers, for output signal after the analog line driver that MOSFET pipes are constituted, signal can
To drive H-bridge circuit, and then control the operating of direct current generator.
Electric wheelchair system：Two anti-hypsokinesis wheel wheels 12, wheelchair car body include that handrail 13 and two are foot-operated.
Preferably, in above-mentioned technical proposal, the intelligent and safe wheelchair control system includes mainly visual sensor, nothing
Fan built-in industrial control machine, dsp controller control motor, control stick, fan-free embedded industry control by core of dsp controller
Machine is all made of RS232 buses and is connected with dsp controller, transmits motor speed information to dsp controller, visual sensor passes through
Usb bus is connected with fan-free built-in industrial control machine, transmits image information to fan-free built-in industrial control machine.
Preferably, in above-mentioned technical proposal, the visual sensor module uses Kinect visual sensors, vision to pass
Sensor Kinect, laser obstacle avoidance module are connected by USB interface with fan-free built-in industrial control machine.
Preferably, in above-mentioned technical proposal, the intelligent and safe wheelchair control system has obstacle detection system simultaneously；It is described
Obstacle detection system is by laser obstacle detection, audible-visual annunciator composition；When intelligent and safe wheelchair detects that there is roadblock in front,
User is adjusted to the control instruction of motor, prevents wheelchair from colliding with barrier.
Compared with prior art, the present invention has the advantages that：
The intelligent and safe wheelchair that the present invention designs is assembled with multiple sensors, wheelchair is made to possess on the basis of common electric wheelchair
Environment sensing ability, autokinetic movement ability embody intelligent.The intelligent and safe wheelchair that the present invention designs simultaneously can be examined in real time
The physical condition information for surveying user, embodies security performance.The intelligent and safe wheelchair substantially merges multinomial robot field and closes
Key technology, including robot vision, path planning, positioning and navigation etc..
Description of the drawings：
Fig. 1 is intelligent and safe wheelchair overall appearance schematic diagram；
Fig. 2 is intelligent and safe wheelchair work flow diagram；
Specific implementation mode：
Below to the present invention specific implementation mode be described in detail, it is to be understood that protection scope of the present invention not by
The limitation of specific implementation mode.
Unless otherwise explicitly stated, otherwise in entire disclosure and claims, term " comprising " or its change
It changes such as "comprising" or " including " etc. and will be understood to comprise stated element or component, and do not exclude other
Element or other component parts.
For the overall appearance schematic diagram of the present invention as shown in Fig. 1, intelligent and safe wheelchair includes electric wheelchair system and intelligence
Safety control module, electric wheelchair system include 1, the two driving anti-hypsokinesis of 3, two, the servo-actuated front-wheel of trailing wheel 2, two of wheelchair car body
Wheel wheel 12, accumulator 4, operating lever 6, speed measuring module 7, driving motor 8, wheelchair car body includes handrail 13 and two foot pedals 14,
Improve the comfort level of passenger.Intelligent and safe wheelchair system includes bottom kernel control module 15 and fan-free embedded industry control
11, visual sensor 9, laser obstacle avoidance module 10, control panel 5.
The present invention has the motor function of electric car wheel-chair first, two driving wheels can be driven to realize wheelchair by motor
Vehicle moves.The present invention is anticipated according to sports rule, that is, A Kaman motion models of electric wheelchair system by the control of analysis user
Velocity magnitude and the direction of left and right wheels is calculated in figure.To the function of realizing wheelchair acceleration, slow down, turn left, turn right.Simultaneous wheels
The speed of Wheel-chair body is controlled by double closed-loop control system and is realized.Two driving trailing wheels are installed with direct current generator, according to specific feelings
Condition inputs the desired speed of motor operation.Utilize the real-time rotary speed information of photoelectric encoder perceptual computing wheel.Given rotating speed with
The real-time rotating speed of feedback does difference operation, and is input to proportional integration (Proportional Integra, PI) speed control,
Output order current value.Rotor real-time current is monitored and is converted into digital information through A/D by Hall sensor, electric current with it is anti-
Supply current, which is compared, to be input in PI current controllers, and output signal passes through the analog line driver that MOSFET pipes are constituted
Afterwards, signal can drive H-bridge circuit, and then control the operating of direct current generator.The electricity controlled in this way by double closed-loop control system
Wheelchair can reach the control to speed high-precision and high stability.
The present invention using touch flat-panel monitor realize human-computer interaction, flat-panel monitor by USB interface with it is fan-free embedding
Enter formula industrial personal computer to be connected.It touches flat-panel monitor with fan-free built-in industrial control machine to be connected, can show the status information of wheelchair
Including electricity, speed, mode state, malfunction, while user directly can control intelligent and safe wheelchair by touch display screen
Model selection.
There are two types of control models for present invention tool：Control stick control model and automatic navigation control pattern.For control stick control
Molding formula, STM8 control sticks can be rotated to all directions, and the location information of control stick is converted to electricity by Hall element
Information is pressed, the information of voltage of Hall element is then converted into digital quantity using AD.It is used by the location information of control stick
The control at family is intended to；For independent navigation pattern, system needs to first pass through visual sensor Kinect in advance to indoor map progress
Modeling, Kinect cameras can be constantly tracked the object in its coverage, can be with according to known information and three-dimensional data
Accurate measurement is made, the static map in entire room is drawn out.The map established by FPD, user are referred to by map
Determine destination, then control system cooks up routing information and obtains corresponding control strategy automatically.Then motor control module drives
Dynamic direct current generator movement.
The present invention is designed with laser obstacle avoidance module, user's body state monitoring module and system failure detection module, these
The presence of module, which embodies the present invention, has good safety.Laser obstacle avoidance module uses infrared distance measurement technology.Infrared distance measurement
It is the principle using range of triangle.The infrared transmitter of intelligent and safe wheelchair emits infrared beam according to certain angle, encounters object
After body, light can reversely return, and after detecting reflected light, pass through the geometric triangulation relationship in structure, so that it may to calculate barrier
Hinder object distance；User's body state monitoring module, visual sensor Kinect can transmit collected user images information
To industrial control computer, user images are analyzed by fan-free built-in industrial control machine.Fan-free built-in industrial control machine is first
First use the AdaBoost cascade classifier algorithms based on Haar features, and the image acquired to visual sensor according to the algorithm
It is analyzed, detects the face information of user.And according to the information for the human eye for obtaining user accordingly.By to eyelid above and below human eye
Range information judges the physical condition of user, judges whether system needs call user's attention safe；Wheelchair controller has more
Kind fault detection capability, including electric voltage exception detection, solenoid brake failure, controller failure, left and right motor cable disconnect event
Barrier.When controller detects failure, it will be automatically stopped output PWM wave driving motor, wait for and restore to drive after releasing failure manually
Dynamic motor.Visual sensor Kinect, laser obstacle avoidance module are connected by USB interface with fan-free built-in industrial control machine.
This intelligent and safe wheelchair control system specific workflow is as shown in Fig. 2, and do detailed description below：
Step 1：System carries out self-test after booting.Intelligent and safe wheelchair carries out battery by the fault detection capability itself designed
Voltage detecting, the detection of solenoid braking state, the detection of left and right motor cable.When intelligent and safe wheelchair passes through intelligence when something goes wrong
The component that the flat-panel monitor display of safe wheelchair is broken down, reminds user to handle.
Step 2：User scans the common indoor environment of user by Kinect visual sensors, by by intelligent and safe
Wheelchair is carried out one week along common indoor environment wall, and intelligent and safe wheelchair control system can carry out the structure of virtual map
It builds.The environmental map of structure is mapped on flat-panel monitor by fan-free built-in industrial control machine；
Step 3：Then user can select the control mode of intelligent and safe wheelchair.There are two types of this intelligent Mobile Service system is gathered around
Control mode（Control stick control mode and automatic navigation control mode）.4 are entered step when user selects independent navigation pattern.
5 are entered step when user selects control stick control mode.
Step 4：User opens environmental map on the flat display, is needed on the ground that flat-panel monitor is shown with householder
On figure, the position intended to move to is clicked.The destination locations that fan-free built-in industrial control machine is selected according to user send out navigation control
Signal processed, the navigational control signals pass sequentially through tablet computer and industrial control computer is transferred to bottom core control mould
Block enters step 6；
Step 5：Under control stick control model, system is first by control stick Hall by the A/D module in bottom core control system
The analog quantity that part obtains is converted to digital quantity, and stick position information is obtained by calculation, and analysis obtains user's control intention.
Step 6：Intelligent and safe wheelchair control system by above-mentioned laser obstacle avoidance module to intelligent and safe wheelchair around
Environmental information is detected, and control signal of the user to motor is adjusted when there is barrier, ensures user security.
Step 7：Intelligent and safe wheelchair control system detects user in real time by above-mentioned user's body condition monitoring system
Physical condition stop motor action, and send out alarm signal when user's body occurs abnormal.
Step 8：User's control intention is converted by the bottom kernel control module by above-mentioned Ah Kaman Controlling model
The speed of left and right motor and the control information in direction.Then the control of bottom kernel control module is according to the above-mentioned control being calculated
Two motors of information-driven or so, and then supporting roller rotation is driven, so that wheelchair is reached the position that user specifies.
The description of the aforementioned specific exemplary embodiment to the present invention is in order to illustrate and illustration purpose.These are retouched
It states and is not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to the above instruction, can carry out very much
Change and variation.The purpose of selecting and describing the exemplary embodiment is that explaining the specific principle and in fact of the present invention
Border is applied, so that those skilled in the art can realize and utilize a variety of different exemplary embodiment party of the present invention
Case and various chooses and changes.The scope of the present invention is intended to be limited by claims and its equivalents.
Claims (10)
1. a kind of intelligent and safe control method of intelligent and safe wheelchair, it is characterised in that：It carries out in accordance with the following steps：
S1：Environment virtual map build, user by intelligent and safe wheelchair along in indoor environment can travelling route carry out one week, depending on
Feel that sensor scanning indoor environment carries out the structure of virtual map automatically, the environmental map of structure is mapped to flat-panel monitor；
S2：User selects control mode, enters S3 when user selects independent navigation pattern, when user selects control stick controlling party
Enter S4 when formula；
S3：Automatic push travelling route, user open environmental map on the flat display, are needed in flat-panel monitor with householder
On the map of display, the position intended to move to is clicked；The destination locations that fan-free built-in industrial control machine is selected according to user, hair
Go out navigational control signals, the navigational control signals pass sequentially through tablet computer and industrial control computer is transferred to bottom core
Control module, into S5；
S4：Stick position information is obtained by calculation in user's manipulation and control, bottom core control system, and analysis obtains user's control
System is intended to and enters S5；
S5：User's control is intended to be converted into the control of the speed and direction of left and right motor by wheelchair walking bottom kernel control module
Information；Then the control of bottom kernel control module is according to the above-mentioned control information-driven being calculated or so two motors, in turn
Supporting roller rotation is driven, wheelchair is made to reach the position that user specifies；
S6：Intelligent and safe wheelchair control system examines the ambient condition information of intelligent and safe wheelchair by laser obstacle avoidance module
It surveys, control signal of the user to motor is adjusted when there is barrier, ensures user security；
S7：Intelligent and safe wheelchair control system detects the body shape of user by above-mentioned user's body condition monitoring system in real time
State stops motor action, and send out alarm signal when user's body occurs abnormal.
2. the intelligent and safe control method of intelligent and safe wheelchair according to claim 1, it is characterised in that：It is opened in step S1
Before beginning, it is additionally provided with System self-test, intelligent and safe wheelchair system detects cell voltage, solenoid braking state, left and right motor cable；
Testing result is shown by the flat-panel monitor of intelligent and safe wheelchair.
3. the intelligent and safe control method of intelligent and safe wheelchair according to claim 1, it is characterised in that：For control stick
Control model, STM8 control sticks can be rotated to all directions, and are converted to the location information of control stick by Hall element
The information of voltage of Hall element is then converted to digital quantity using AD, is obtained by the location information of control stick by information of voltage
The control of user is intended to.
4. the intelligent and safe control method of intelligent and safe wheelchair according to claim 1, it is characterised in that：For certainly leading
Model plane formula, system needs first pass through visual sensor Kinect in advance and are modeled to indoor map, and Kinect cameras can be continuous
Ground tracks the object in its coverage, according to known information and three-dimensional data, can make accurate measurement, draw out whole
The static map in a room；The map established by FPD, user specifies destination by map, then control system from
It is dynamic to cook up routing information and obtain corresponding control strategy, then motor control module driving direct current generator movement.
5. the intelligent and safe control method of intelligent and safe wheelchair according to claim 1, it is characterised in that：Laser avoidance mould
Block, user's body state monitoring module and system failure detection module, infrared distance measurement are the principles using range of triangle, and intelligence is pacified
The infrared transmitter of full wheelchair emits infrared beam according to certain angle, and after encountering object, light can reversely return, and detects anti-
It penetrates after light, passes through the geometric triangulation relationship in structure, so that it may to calculate obstacle distance；User's body status monitoring mould
Block, visual sensor Kinect can send collected user images information to industrial control computer, by fan-free embedding
Enter formula industrial personal computer to analyze user images.
6. the intelligent and safe control method of intelligent and safe wheelchair according to claim 1, it is characterised in that：Fan-free insertion
Formula industrial personal computer uses the AdaBoost cascade classifier algorithms based on Haar features first, and according to the algorithm to visual sensor
The image of acquisition is analyzed, which can obtain the depth information of image, for carrying out user's body state inspection
It surveys, user images information is acquired by data pick-up, by the physical condition for identifying user eye condition adjudgement user；
When recognizing user's body abnormal state, it is automatically stopped motor work, by sending out alarm；Persistently detect user simultaneously
Physical condition, if detecting, still in abnormality, remote alarms are carried out by fan-free built-in industrial control machine for user's body；
Wheelchair controller has various faults detection function, including electric voltage exception detects, solenoid brake failure, controller failure, left,
Right motor cable disconnects failure；When controller detects failure, it will be automatically stopped output PWM wave driving motor, waited for manual
Restore driving motor after releasing failure.
7. a kind of intelligent and safe wheelchair, including electric wheelchair system, the electric wheelchair system is mainly by wheelchair car body, two drives
Dynamic trailing wheel, two servo-actuated front-wheels, accumulator, operating lever, speed measuring module, driving motors, which is characterized in that further include intelligent and safe
Wheelchair system, the intelligent and safe wheelchair system is mainly by bottom kernel control module, fan-free embedded industry control, visual sensing
Device, laser obstacle avoidance module and control panel composition；
The control unit of bottom kernel control module communication connection driving motor, control stick, fan-free built-in industrial control machine；It manipulates
Panel, visual sensor communicate the fan-free built-in industrial control machine of connection respectively；
Two driving trailing wheels are installed with direct current generator, input the desired speed of motor operation as the case may be, utilize photoelectricity
The real-time rotating speed of the real-time rotary speed information of encoder perceptual computing wheel, given rotating speed and feedback does difference operation, and is input to ratio
Example integrating rate controller, output order current value；
Rotor real-time current is monitored and is converted into digital information through A/D by Hall sensor, and electric current is carried out with feedback current
Compare and be input in PI current controllers, for output signal after the analog line driver that MOSFET pipes are constituted, signal can
To drive H-bridge circuit, and then control the operating of direct current generator；
Electric wheelchair system：Two anti-hypsokinesis wheel wheels, wheelchair car body include that handrail and two are foot-operated.
8. intelligent and safe wheelchair according to claim 7, it is characterised in that：The intelligent and safe wheelchair control system master
To include visual sensor, fan-free built-in industrial control machine, dsp controller, using dsp controller as core control motor, manipulation
Bar, fan-free built-in industrial control machine are all made of RS232 buses and are connected with dsp controller, transmit motor speed information and are controlled to DSP
Device, visual sensor are connected by usb bus with fan-free built-in industrial control machine, transmit image information to fan-free embedded work
Control machine.
9. intelligent and safe wheelchair according to claim 7, it is characterised in that：The visual sensor module uses
Kinect visual sensors, visual sensor Kinect, laser obstacle avoidance module pass through USB interface and fan-free embedded industry control
Machine is connected.
10. intelligent and safe wheelchair according to claim 1, it is characterised in that：The intelligent and safe wheelchair control system is same
When have obstacle detection system；The obstacle detection system is by laser obstacle detection, audible-visual annunciator composition；When intelligent and safe wheel
When chair detects that there is roadblock in front, user is to the control instruction of motor for adjustment, prevents wheelchair from colliding with barrier.
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| CN109270963A (en) * | 2018-09-29 | 2019-01-25 | 武汉理工大学 | A kind of wheelchair automatic following system and method based on reflective fabric and laser radar |
| CN109368565A (en) * | 2018-12-11 | 2019-02-22 | 中联重科股份有限公司 | high-altitude operation equipment |
| CN109481166A (en) * | 2018-12-26 | 2019-03-19 | 安徽中天保安服务集团有限公司 | A kind of intelligent wheel chair mechanism and its control system |
| CN109508013A (en) * | 2018-12-20 | 2019-03-22 | 南京理工大学 | A kind of autonomous Control of Wheeled Mobile Robots device |
| CN109620493A (en) * | 2018-12-07 | 2019-04-16 | 西安科技大学 | Disabled person's life assistant apparatus and its control method based on brain control |
| CN110025437A (en) * | 2019-03-28 | 2019-07-19 | 房歆哲 | A kind of intelligent wheel chair |
| CN110037869A (en) * | 2019-05-17 | 2019-07-23 | 广州足步医疗科技有限公司 | The wheeled control system and its control method of the double remote controlers of band |
| CN110119152A (en) * | 2019-06-15 | 2019-08-13 | 大连亿斯德环境科技有限公司 | A kind of multifunctional intellectual wheelchair control system and corresponding control method |
| CN110538031A (en) * | 2019-09-23 | 2019-12-06 | 上海电机学院 | Intelligent electric wheelchair |
| 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 |
| CN111367295A (en) * | 2020-03-26 | 2020-07-03 | 华南理工大学 | Navigation and obstacle avoidance system and method of intelligent wheelchair bed |
| CN111419566A (en) * | 2020-04-10 | 2020-07-17 | 上海电力大学 | Intelligent obstacle avoidance wheelchair and control system thereof |
| CN111759598A (en) * | 2019-03-27 | 2020-10-13 | 中国计量大学 | Intelligent safety keeps away barrier wheelchair |
| CN112025670A (en) * | 2020-07-29 | 2020-12-04 | 义乌工商职业技术学院 | Multi-joint wheelchair mechanical arm for helping the old and the disabled |
| CN112168525A (en) * | 2020-11-09 | 2021-01-05 | 南京康尼机电股份有限公司 | Self-adaptive anti-tilting pedal mechanism of wheelchair |
| CN112245128A (en) * | 2020-09-10 | 2021-01-22 | 山东科技大学 | Robot for helping old people and disabled and personnel monitoring system controlled by electroencephalogram signals |
| CN112426289A (en) * | 2020-10-28 | 2021-03-02 | 北京工业大学 | Intelligent wheelchair for helping old people and disabled people |
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| CN113288611A (en) * | 2021-05-17 | 2021-08-24 | 北京三角洲机器人科技有限公司 | Operation safety guarantee method and system based on electric wheelchair traveling scene |
| CN113576780A (en) * | 2021-08-04 | 2021-11-02 | 北京化工大学 | Intelligent wheelchair based on semantic vision SLAM |
| CN116617011A (en) * | 2023-07-21 | 2023-08-22 | 小舟科技有限公司 | Wheelchair control method, device, terminal and medium based on physiological signals |
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| CN109270963A (en) * | 2018-09-29 | 2019-01-25 | 武汉理工大学 | A kind of wheelchair automatic following system and method based on reflective fabric and laser radar |
| CN109620493A (en) * | 2018-12-07 | 2019-04-16 | 西安科技大学 | Disabled person's life assistant apparatus and its control method based on brain control |
| CN109368565A (en) * | 2018-12-11 | 2019-02-22 | 中联重科股份有限公司 | high-altitude operation equipment |
| CN109508013A (en) * | 2018-12-20 | 2019-03-22 | 南京理工大学 | A kind of autonomous Control of Wheeled Mobile Robots device |
| CN109481166A (en) * | 2018-12-26 | 2019-03-19 | 安徽中天保安服务集团有限公司 | A kind of intelligent wheel chair mechanism and its control system |
| CN111759598A (en) * | 2019-03-27 | 2020-10-13 | 中国计量大学 | Intelligent safety keeps away barrier wheelchair |
| CN110025437A (en) * | 2019-03-28 | 2019-07-19 | 房歆哲 | A kind of intelligent wheel chair |
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| CN110119152A (en) * | 2019-06-15 | 2019-08-13 | 大连亿斯德环境科技有限公司 | A kind of multifunctional intellectual wheelchair control system and corresponding control method |
| CN110538031A (en) * | 2019-09-23 | 2019-12-06 | 上海电机学院 | Intelligent electric wheelchair |
| WO2021108959A1 (en) * | 2019-12-02 | 2021-06-10 | 深圳职业技术学院 | Intelligent traveling wheelchair used in small area |
| 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 |
| CN111367295A (en) * | 2020-03-26 | 2020-07-03 | 华南理工大学 | Navigation and obstacle avoidance system and method of intelligent wheelchair bed |
| CN111419566A (en) * | 2020-04-10 | 2020-07-17 | 上海电力大学 | Intelligent obstacle avoidance wheelchair and control system thereof |
| CN112025670A (en) * | 2020-07-29 | 2020-12-04 | 义乌工商职业技术学院 | Multi-joint wheelchair mechanical arm for helping the old and the disabled |
| CN112245128B (en) * | 2020-09-10 | 2022-02-08 | 山东科技大学 | Robot for helping old people and disabled and personnel monitoring system controlled by electroencephalogram signals |
| CN112245128A (en) * | 2020-09-10 | 2021-01-22 | 山东科技大学 | Robot for helping old people and disabled and personnel monitoring system controlled by electroencephalogram signals |
| CN112426289A (en) * | 2020-10-28 | 2021-03-02 | 北京工业大学 | Intelligent wheelchair for helping old people and disabled people |
| CN112168525A (en) * | 2020-11-09 | 2021-01-05 | 南京康尼机电股份有限公司 | Self-adaptive anti-tilting pedal mechanism of wheelchair |
| CN112451229A (en) * | 2020-12-09 | 2021-03-09 | 北京云迹科技有限公司 | Travel method and device of intelligent wheelchair |
| CN112451229B (en) * | 2020-12-09 | 2022-07-22 | 北京云迹科技股份有限公司 | Travel method and device of intelligent wheelchair |
| CN113288611A (en) * | 2021-05-17 | 2021-08-24 | 北京三角洲机器人科技有限公司 | Operation safety guarantee method and system based on electric wheelchair traveling scene |
| CN113576780A (en) * | 2021-08-04 | 2021-11-02 | 北京化工大学 | Intelligent wheelchair based on semantic vision SLAM |
| CN116617013A (en) * | 2023-05-18 | 2023-08-22 | 国家康复辅具研究中心 | Wheelchair walker integrated machine control method and system |
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