CN112426289A - Intelligent wheelchair for helping old people and disabled people - Google Patents
Intelligent wheelchair for helping old people and disabled people Download PDFInfo
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- CN112426289A CN112426289A CN202011170120.8A CN202011170120A CN112426289A CN 112426289 A CN112426289 A CN 112426289A CN 202011170120 A CN202011170120 A CN 202011170120A CN 112426289 A CN112426289 A CN 112426289A
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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
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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
- A61G5/1051—Arrangements for steering
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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
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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
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/32—General characteristics of devices characterised by sensor means for force
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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
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/40—General characteristics of devices characterised by sensor means for distance
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an intelligent wheelchair for helping the old and the disabled. According to the wheelchair, different postures of a human body are acquired through the sensors, the upper computer is used for processing data and transmitting the data to the servo motor, so that the advancing direction of the wheelchair is controlled, and somatosensory control and obstacle avoidance following of the wheelchair are realized. The wheelchair can help the old to go out independently, and the old can operate the wheelchair trend more directly and conveniently so as to improve the life quality of the old.
Description
Technical Field
The invention relates to an intelligent control wheelchair applied to the field of old and disabled helping, which is particularly suitable for the daily life and the trip of the old and the disabled.
Background
At present, the number of the aged population in China is large, the development situation is rapid, the aged population is aggravated, and the development among regions is unbalanced. In the elderly, the immune function and physiological function of the elderly begin to deteriorate with age, leg strength is weakened, physical strength is greatly reduced, and walking for a long time is difficult. On the other hand, the traditional family structure mode of China is changed, the family endowment function is weakened, and children are difficult to take out a large amount of time to take care of the old in busy work. In the face of such circumstances, a lever-operated electrically-controlled wheelchair improved according to a conventional push wheelchair has been introduced into the market, and research into a smart wheelchair has become one of the current research hotspots. However, most wheelchairs on the market still have difficulty meeting the needs of the elderly: most electric wheelchairs need to be operated by hand feeling, the old people need to ensure that the hands can normally move to go out, and in addition, the comfort level of using the electric wheelchairs is greatly reduced due to the fact that the old people need to sit and stand to keep operating.
If can provide a body for the old person who is difficult to the trip and feel the operation, support the automatic wheelchair that follows simultaneously, just can help the old person independently to go out, at the wheelchair in-process of traveling, the old person can more directly operate the wheelchair trend conveniently to improve old person's quality of life.
Disclosure of Invention
The invention aims to design a modular intelligent wheelchair which can be controlled according to the posture of a user.
The wheelchair comprises a chair frame mechanism serving as a wheelchair main body and a chair-mounted force sensor serving as an attitude control module and a chair-mounted two-dimensional laser range finder serving as an automatic control module.
The chair frame comprises a servo driving motor arranged on the wheelchair, a chair-mounted main control unit and a chair-mounted serial port communication module, and according to the invention, the chair frame mechanism for the modular loading of functional components of the wheelchair is provided. The modules are positioned at different positions in the chair frame and do not interfere with each other, so that different functions can be realized.
The chair-mounted main control unit is connected with a servo driving motor and a force sensor of the wheelchair through a chair-mounted serial port communication module; a driving control mode, a steering control mode and an emergency stop mode are preset in the chair-mounted main control unit; the chair-mounted main control unit enters the driving control mode, the steering control mode and the emergency stop mode according to data obtained by the chair-mounted force sensor module, controls the servo driving motor according to the chair-mounted force sensor module, and enters the obstacle avoidance mode according to data obtained by the chair-mounted two-position laser range finder.
The chair-mounted force sensor module comprises a force sensor, a sensor main control unit and a sensor serial port communication unit; the chair-mounted force sensor module is arranged on the backrest, the lower part of the seat and the right armrest of the wheelchair.
The chair-mounted two-dimensional laser range finder module is located behind a backrest of the wheelchair.
The invention improves the common electric wheelchair, and changes the brushless DC motor in the electric wheelchair into the servo driving motor.
Furthermore, as a servo drive motor different from a common electric wheelchair is adopted, a pair of support frames positioned on the wheelchair main body is designed, the servo drive motor and the main control unit are carried on the support frames, and the servo drive motor is used for controlling the wheels of the wheelchair to rotate.
And switching a somatosensory control mode and an automatic following mode through a man-machine interaction interface button.
In the somatosensory control mode, the wheelchair is controlled through a strategy of inclining the body, wherein the strategy comprises the steps of inclining the body consciously and inclining the body unconsciously; the wheelchair enters the drive control mode and the steering control mode by a conscious body tilt action.
In the somatosensory mode, in order to distinguish the different states of the wheelchair in operation, we define 5 different ranges of resulting values, which are calculated by the following simple method and are divided into 3 priorities. And comparing the collected data and executing corresponding tasks. At the same time, the data with high priority will be sent as output data. Recording data recorded by sensors attached to the left and right sides below the seat as S1、S2Recording data from a sensor attached to the front part of the underside of the seat as S0Data recorded by sensors attached to the backrest and right armrest of the wheelchair are divided into S3、S4。
In order to facilitate the lower computer to process data, the upper computer processes the data input by the sensor into an 8-bit string, the system analyzes the real-time position of a target user into a following linear velocity and an angular velocity, codes the two parameters and outputs the parameters to the lower computer according to a fixed format to form a motion instruction, the nine-bit string is shaped like a plus 100, the first and fifth bits are left and right wheel direction control bits, and the 100 represents that the driving motor moves at the linear velocity of 1 r/s. The lower computer receives the command, decodes the command, drives the motor, and controls the rotating speed (SLSR) of the left wheel and the right wheel through PID regulation. The first 4 characters are sent to the left servomotor and the remaining 4 characters are sent to the right servomotor. By determining which of the numerical values obtained by analog-to-digital conversion of the data transmitted by each sensor is output, a corresponding control instruction string is output.
Watch (1)
In practical applications, the initial value is not 0, so that the initial value (hereinafter referred to as I) should be added to the difference of the sum in the determination0) And (1) can be changed to (2)
Watch (2)
Wherein S0For identifying whether the user has sat down, when the value is changed from 0 to 20, the whole system records an initial value within 5 seconds: (S)1-S2)
Furthermore, the movement of the intelligent wheelchair is realized by STM32, and the PID algorithm is used for controlling the speed of the motor and the communication between the upper computer and the lower computer. The adoption of the PID algorithm can lead the servo motor to run stably, thereby avoiding the problem of sudden change of the rotating speed. The present invention employs location-based PID.
Further, according to the data mark recorded by the sensing system: will S1And S2Is recorded as "a", S3Is denoted as "b", S4The value of (c) is denoted as "c".
An experiment was conducted to set the scram function to high priority and determine if the "c" value was greater than 60. If the value is greater than 60, the wheelchair will perform an emergency stop operation. The left and right turn functions are set to intermediate priority and only a determination is made as to whether the absolute value of the "a" value is greater than 20 from the steady state difference. And when the angle is larger than 20, left and right turns can be realized. The forward function is set to be low priority, only whether the value of 'b' is larger than 80 is judged, if the value of 'b' is larger than 80, the wheelchair moves forward, and if the value of 'b' is smaller than 80, the wheelchair moves backward. According to the algorithm, a QT writing program is used for controlling the motion state of the intelligent wheelchair by changing the position and the posture of the wheelchair.
The method comprises the following steps of carrying out an experiment in an automatic following mode, running a program, opening a man-machine interaction interface, inputting a corresponding COM port number and clicking to open through an upper computer serial port communication interface, measuring and returning data by a laser range finder, analyzing and identifying environmental information through an SVDD classification algorithm, distinguishing obstacles and locking a target user (when the trunk part of the target user is 50CM away from the laser range finder right ahead, judging and locking the target user within 5 seconds), and starting a voice prompt function: the target identification is successful. The lower computer receives the instruction to decode and drive the motor, and realizes the effects of moving at the same speed along with people and stably avoiding obstacles through PID adjustment, and when a target user is shielded by obstacles, the wheelchair only changes the angular speed of movement, and the linear speed is set to zero. When the target user breaks away from the range of the laser range finder, the upper computer sends an emergency stop instruction to the lower computer, and the lower computer gives an alarm by voice in situ: the target is lost. Until the target is lost, the wheelchairs can keep stably following one meter away from the target user.
Because the connection mode of the upper computer and the lower computer of the intelligent wheelchair is more suitable for modular development, the intelligent wheelchair can be loaded with a large number of modular components, and any module which is mature on the market and adopts serial communication is butted through the universal applicability of the communication of the chair-mounted serial port and the expansibility of the main control unit special for data processing.
Drawings
FIG. 1 is a schematic view of an intelligent wheelchair and sensing system according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of a supporting plate and a connecting member according to embodiment 1 of the present invention;
FIG. 3 is a logic flow diagram of the operation of embodiment 1 of the present invention.
Detailed Description
Example 1
Referring to fig. 1, an intelligent wheelchair 1 for helping the old and the disabled includes a frame mechanism and a chair-mounted force sensor.
The chair frame comprises a servo driving motor arranged on the wheelchair, a chair-mounted main control unit and a chair-mounted serial port communication module, and according to the invention, the chair frame mechanism for modular loading of functional components of the wheelchair is provided.
The chair-mounted main control unit is connected with a servo driving motor and a force sensor of the wheelchair through a chair-mounted serial port communication module; a driving control mode, a steering control mode and an emergency stop mode are preset in the chair-mounted main control unit; the chair-mounted main control unit enters the driving control mode, the steering control mode and the emergency stop mode according to data obtained by the chair-mounted force sensor module, and controls the servo driving motor according to the chair-mounted force sensor module.
The chair-mounted force sensor module comprises a force sensor, a sensor main control unit and a sensor serial port communication unit; the chair-mounted force sensor module is arranged on the wheelchair backrest 2, the seat lower part 4 and the right armrest 3.
In one embodiment, the force sensor is an RP-C resistive pressure sensor; selecting a pressure sensor which does not influence the user experience under the condition of meeting the requirement of acquiring data, and meeting the condition that the weight of the wheelchair is in the range of 0-80KG and the sensitivity of the wheelchair at least reaches a standard brick capable of detecting the change of the deviation value of 0.76N; the RP-C resistance type pressure sensor is used as a force sensor, has the characteristics of ultrathin and flexibility, and can ensure that the magnitude of output force is measured under the condition of not influencing user experience; the coating is more durable and practical, and can be used more conveniently in actual production; the pressure detection range is wide, the response speed is high, the response time is less than 10ms, the range of people using the RP-C resistance type pressure sensor can be expanded, and the flexible pressure sensor can feel weak dynamic or static force.
The battery used in this embodiment is preferably a lithium battery.
The chair-mounted main control unit adopts an STM32F 1V 3 development board; the development board STM32F 1V 3 belongs to the microcomputer, and has the characteristics of small volume, low power consumption, rich functions and the like.
The communication between the chair-mounted main control unit and the force sensor is preferably serial communication.
Compared with the prior art, the intelligent wheelchair applies the data of the chair-mounted force sensor module to the working mode of the wheelchair, and adopts a strategy of controlling the movement of the wheelchair by a body; when the wheelchair is in the drive control mode, a user normally observes the road condition, and when the user only intends to go straight, the user can lean the back against the backrest of the wheelchair to enable the wheelchair to enter the drive control mode; when the user intends to retreat, the back of the user can be erected away from the wheelchair backrest, and the wheelchair retreats at a constant speed. If the user intends to perform emergency stop operation on the wheelchair, the right side force sensor can be pressed, and the wheelchair can enter the emergency stop mode to immediately stop the wheelchair. When the user intends to turn, the wheelchair can be put into the steering control mode by tilting the body to the left or right, in which the user can control the steering of the wheelchair by tilting the body. In one embodiment, the body tilting strategy comprises consciously tilting the body and unconsciously tilting the body; the wheelchair enters the drive control mode and the steering control mode by a conscious body tilt action.
The force born by the seat cushions at different parts of the user is changed due to the change of the sitting posture, and the change can be directly detected by the force sensor arranged under the seat. The chair-mounted force sensor module is arranged below the wheelchair, can directly acquire a user instruction and is hidden under the seat, so that the wheelchair is convenient and attractive. In one embodiment, the force sensor 3 is provided at the back of the wheelchair back; the force sensor 4 is arranged on the right armrest of the wheelchair; the force sensors 0, 1 and 2 are arranged below the wheelchair cushion; the force sensor can directly receive the force change of a user caused by sitting posture change.
In this embodiment, the signal of the force sensor is collected every 0.5 second, and the sensor located under the seat is collected first, that is, the data S is obtained0Judging whether the data is more than 20, if so, sitting down for the user, and recording the data difference value of the first left and right sides of the sensor below the seat used this time to obtain S1-S2After an interval of 0.5S, S is recorded1-S2A difference of (d); recording seat back sensor data, i.e. S3(ii) a Recording right hand arm sensor data, i.e. S4. By judgment (S)1-S2) Whether the difference from the first initial value is greater than 20 or S3Whether the current behavior is consciously inclined body movement or reclining movement is judged if the current behavior is greater than or equal to 80, and disturbance can be eliminated and stability is improved under the strategy of multiple sampling; the priority of different behaviors at the same time is judged by adopting a mode of different sub-strategy priorities, and the main control unit judges and processes signals according to different priorities to control wheels of the wheelchairA sub-rotation speed; in order to eliminate system misjudgment caused by different data acquired when different users use the same wheelchair, the output values of the sensors are re-judged and processed when different users perform the same action, the use of more than 80% of users is met, the time complexity of subsequent processing is reduced, and the same use feeling of different users is ensured. Compared with the common electric wheelchair which is controlled to turn by a hand lever, the wheelchair controls the turning of the wheelchair by additionally arranging the chair load sensor module on the electric wheelchair. Furthermore, according to a large number of experiments, the wheelchair is determined to automatically enter the drive control mode according to the front, back, left and right inclination of the body of a user in the mode, the steering of the wheelchair wheels can be determined more actively by the aid of the strategy, more accurate steering operation can be realized, and the delay caused by communication between the motor and the main control system can be greatly reduced by matching with a driving motor of the wheelchair, so that the wheelchair can enter the next mode more quickly, and a next command can be completed.
The invention improves the common electric wheelchair, and changes the brushless DC motor in the electric wheelchair into the servo driving motor.
The servo driving motors are respectively matched with the wheels on the left side and the right side, and the model number of the left side is 80ZY24-340D/88JC32G 1760-02; the right model is 80ZY24-340D/88JC32G 1760-01. The servo drive motor adopts closed-loop control of position, speed and moment, has higher precision, can realize more accurate control, and has the advantages of being more stable and the like compared with a stepping motor in the operation stage. In the invention, the real-time rotating speed of the wheel of the wheelchair can be written or obtained by applying the servo driving motor, and can be directly fed back to the main control unit to correct the state of the wheelchair in time; in addition, the servo driving motor can reduce the acceleration or deceleration process of the wheelchair, and the time of the acceleration or deceleration process is compressed to millisecond level, so that the use experience is improved, and a user can operate the wheelchair more freely.
Furthermore, a pair of support frames are designed due to the adoption of a servo drive motor different from a common electric wheelchair, the servo drive motor and the main control unit are carried on the support frames 5, and the servo drive motor is used for controlling the wheels of the wheelchair to rotate.
Further, in one embodiment, the program is run, the man-machine interaction interface is opened, the corresponding COM port number is input and "open" is clicked through the serial port communication interface of the upper computer, the laser range finder measures and returns data, the environmental information is analyzed and identified through the SVDD classification algorithm, the barrier and the target user are distinguished and locked (when the trunk part of the target user is 50CM away from the front of the laser range finder, the target user is judged and locked within 5 seconds of standing), and the voice prompt function is started: the target identification is successful. The lower computer receives the instruction to decode and drive the motor, and realizes the effects of moving at the same speed along with people and stably avoiding obstacles through PID adjustment, and when a target user is shielded by obstacles, the wheelchair only changes the angular speed of movement, and the linear speed is set to zero. When the target user breaks away from the range of the laser range finder, the upper computer sends an emergency stop instruction to the lower computer, and the lower computer gives an alarm by voice in situ: the target is lost. Until the target is lost, the wheelchairs can keep stably following one meter away from the target user.
Claims (8)
1. An intelligent wheelchair for helping the old and the disabled is characterized in that:
comprises a chair frame, a chair-mounted force sensor, an attitude control module and a chair-mounted two-dimensional laser range finder, wherein the chair frame is used as a wheelchair main body and the chair-mounted force sensor is used as an automatic control module;
the chair frame comprises a servo driving motor arranged on the wheelchair, a chair-mounted main control unit and a chair-mounted serial port communication module,
the chair-mounted main control unit is connected with a servo driving motor and a force sensor of the wheelchair through a chair-mounted serial port communication module; a driving control mode, a steering control mode and an emergency stop mode are preset in the chair-mounted main control unit; the chair-mounted main control unit enters the driving control mode, the steering control mode and the emergency stop mode according to the data obtained by the chair-mounted force sensor module, controls the servo driving motor according to the chair-mounted force sensor module, and enters the obstacle avoidance mode according to the data obtained by the chair-mounted two-position laser range finder;
the chair-mounted force sensor module comprises a force sensor, a sensor main control unit and a sensor serial port communication unit; the chair-mounted force sensor module is arranged on the backrest, the lower part of the seat and the right armrest of the wheelchair;
the chair-mounted two-dimensional laser range finder module is located behind a backrest of the wheelchair.
2. The intelligent wheelchair for the old and the disabled according to claim 1, wherein:
a pair of supporting frames positioned on the wheelchair main body is designed, the servo driving motor and the chair-mounted main control unit are carried on the supporting frames, and the servo driving motor is used for controlling the wheels of the wheelchair to rotate.
3. The intelligent wheelchair for the old and the disabled according to claim 1, wherein:
switching a somatosensory control mode and an automatic following mode through a man-machine interaction interface button;
in the somatosensory control mode, the wheelchair is controlled through a strategy of inclining the body, wherein the strategy comprises the steps of inclining the body consciously and inclining the body unconsciously; the wheelchair enters the driving control mode and the steering control mode through the conscious body tilting action;
in the somatosensory mode, 5 different result value ranges are defined for distinguishing different working states of the wheelchair, and the values are calculated by the following simple method and are divided into 3 priorities; comparing the collected data and executing corresponding tasks; meanwhile, the data with high priority is sent as output data; recording data recorded by sensors attached to the left and right sides below the seat as S1、S2Recording data from a sensor attached to the front part of the underside of the seat as S0Data recorded by sensors attached to the backrest and right armrest of the wheelchair are divided into S3、S4。
4. The intelligent wheelchair for the old and the disabled according to claim 3, wherein:
processing data input by a force sensor into an 8-bit character string, analyzing the real-time position of a target user into a following linear velocity and an angular velocity, encoding the two parameters, outputting a character string which forms a motion instruction according to a fixed format, wherein the first and fifth bits are left and right wheel direction control bits, the '100' represents that a driving motor moves at a linear velocity of 1 r/s, and the rest data is converted into the velocity according to a corresponding proportion; receiving the instruction, decoding and driving the motor, and controlling the rotating speed of the left wheel and the right wheel through PID regulation; the first 4 characters are sent to the left servo motor, and the other 4 characters are sent to the right servo motor; outputting a corresponding control instruction string by judging which of numerical values obtained by analog-to-digital conversion of data sent by each sensor is;
in practical application, the initial value is not 0, so that the difference of the sum should be added with the initial value I when judging0，I0The data difference value existing initially for the left and right sensors;
left and right wheel speed (SLSR) sensor receives output instruction string of numerical range
5. The intelligent wheelchair for the old and the disabled according to claim 3, wherein:
wherein S0For identifying whether the user has sat down, when its value changes from 0 to 20, an initial value is recorded within 5 seconds: (S)1-S2)。
6. The intelligent wheelchair for the old and the disabled according to claim 3, wherein:
according to the data mark recorded by the sensing system: will S1And S2Is recorded as "a", S3Is denoted as "b", S4The value of (a) is denoted by "c";
performing an experiment, setting the emergency stop function as a high priority, and judging whether the value of c is greater than 60; if the value is greater than 60, the wheelchair will perform an emergency stop operation; setting the left-turn and right-turn functions as middle priority, and only judging whether the absolute value of the value 'a' and the steady-state difference are greater than 20; when the distance is more than 20, left turning and right turning are realized; the forward function is set to be low priority, only whether the value of 'b' is larger than 80 is judged, if the value of 'b' is larger than 80, the wheelchair moves forward, and if the value of 'b' is smaller than 80, the wheelchair moves backward.
7. The intelligent wheelchair for the old and the disabled according to claim 3, wherein:
the method comprises the steps of carrying out an experiment in an automatic following mode, running a program, opening a human-computer interaction interface, measuring and returning data through an upper computer serial port communication interface and a laser range finder, analyzing and identifying environmental information through an SVDD classification algorithm, distinguishing obstacles and locking target users, after the target identification is successful, receiving an instruction by a lower computer, decoding and driving a motor, realizing the effect of moving at the same speed along with people and stably avoiding obstacles through PID (proportion integration differentiation) regulation, and when the target users are shielded by obstacles, only changing the angular speed of the movement of the wheelchair and setting the linear speed to zero; when the target user breaks away from the range of the laser range finder, the upper computer sends an emergency stop instruction to the lower computer, and the lower computer gives an alarm by voice in situ: the target is lost; until the target is lost, the wheelchair keeps following stably at a distance of one meter from the target user.
8. The intelligent wheelchair for the old and the disabled according to claim 1, wherein:
the movement of the intelligent wheelchair is realized by STM32, and the PID algorithm is used for controlling the speed of the motor and the communication between the upper computer and the lower computer.
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