CN202995348U - An intelligent wheelchair controlling system - Google Patents
An intelligent wheelchair controlling system Download PDFInfo
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- CN202995348U CN202995348U CN 201220724037 CN201220724037U CN202995348U CN 202995348 U CN202995348 U CN 202995348U CN 201220724037 CN201220724037 CN 201220724037 CN 201220724037 U CN201220724037 U CN 201220724037U CN 202995348 U CN202995348 U CN 202995348U
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Abstract
The utility model discloses an intelligent wheelchair controlling system and relates to the field of wheelchair technology. The intelligent wheelchair controlling system is characterized by comprising sensors, a controller, an actuator, and man-machine interaction devices. The sensors are connected with the controller by signals and transmit acquired signals to the controller. The controller is connected with the actuator through a D/A converter. The actuator is used for driving a wheelchair to change direction. The man-machine interaction devices are connected with the controller and receive instruction actions of the controller. The controller is connected with a host computer through a serial port. The intelligent wheelchair controlling system performs identification and controlling by adopting voice. Voice commands are inputted into the wheelchair by a user through a voice sensor. The wheelchair is capable of feeding back states of the wheelchair or external environmental information to the user through a loudspeaker in an audio playing manner in real time. An ultrasonic sensor and an image sensor are disposed in order to achieve real-time obstacle avoidance of the wheelchair and control the intelligent wheelchair to travel accurately and stably.
Description
Technical field
The utility model relates to the wheelchair technical field, is specifically related to a kind of intelligent wheelchair control system.
Background technology
Along with the progress of social civilization, ensure and improve the quality of life of the disadvantaged group such as the elderly and physical disabilities, more and more be subject to personages of various circles of society's common concern.Studies show that in a large number, effectively strengthen the elderly and physical disabilities' ability to act, not only make their daily life become convenient, and their mental health, self-assessment, the state of mind also had far-reaching influence.Therefore, a kind of can arising at the historic moment for the wheelchair of riding instead of walk that the elderly provides convenience, and obtained applying widely.Wheelchair early is manual, rotates a handwheel by the people and advances, and this need to consume one's strength, and is not suitable for the too weak and physical disabilities of those muscle power and uses.Invented again subsequently electric wheelchair, this electric wheelchair generally comprises car body, front and back wheel, drive motor, operating rod and motor driver, drive motor is by storage battery power supply, the driving trailing wheel advances, and the people who is sitting on wheelchair need only thumb-operated control stick, can realize wheelchair advance, retreat and turn in the left and right.Electric wheelchair has greatly improved than manual wheelchair, but still there are some problems, for example, the car user is general only can observe surrounding environment from the top, and how own this of judgement handles wheelchair, to ground and subaerial situation more difficult observing, in case encounter barrier, can not in time take counter-measure, often cause hard collision, even cause overturn accident and personal injury.In addition, for a part of self-care ability relatively poor the elderly and physical disabilities, they do not handle general electric wheelchair yet, need exploitation a kind of more convenient to operate, use safer novel intelligent wheelchair, satisfying this part human needs, and provide a kind of more superior walking-replacing tool for more people.
The utility model content
Technical problem to be solved in the utility model is to provide a kind of easy to operate, safe and reliable intelligent wheelchair control system.
Technical problem to be solved in the utility model realizes by the following technical solutions:
A kind of intelligent wheelchair control system, formed by sensor, controller, actuator and human-computer interaction device, described sensor is connected by signal with controller, sensor is transported to controller with the signal that collects, described controller connects actuator by D/A converter, and described actuator is used for driving wheelchair and turns to, and described human-computer interaction device is connected to controller, accept the instruction action of controller, controller is connected with host computer by serial ports.
Described controller is a single-chip microcomputer, adopts Ling Yang 16 single-chip microcomputer SPCE061A of company, and the resource of this single-chip microcomputer not only can satisfy the designing requirement of these works, and the SPCE061A single-chip microcomputer is fit to the speech processing applications field very much.
Described sensor comprises speech transducer, ultrasonic sensor and imageing sensor, and speech transducer is converted into electric signal with voice signal, gathers through the A/D of single-chip microcomputer ALT-CH alternate channel; Ultrasonic sensor is used for measuring the distance between wheelchair and barrier, realizes wheelchair automatic obstacle avoiding and navigation; Imageing sensor is used for the road pavement information, is converted to the digital signal image by A/D, and completes acquisition and processing by single-chip microcomputer.
Described actuator comprises two 24V permanent magnet DC motors, turns to by the differential control wheelchair.
Be connected with control lever on described direct current generator, can the manual operation direct current generator by control lever.
Described human-computer interaction device comprises loudspeaker, LCD and LED, described loudspeaker is used for playing voice suggestion, realize the interactive voice between wheelchair and user, described LCD is for showing current wheelchair oneself state information, and described LED is used to indicate the current various states of wheelchair.
The beneficial effects of the utility model are: the utility model adopts voice to identify and control, the user inputs voice command by speech transducer to wheelchair, wheelchair also can be in real time with oneself state or external environmental information with the form of speech play by loudspeaker feedback to the user, and by the setting of ultrasonic sensor and imageing sensor, can realize the wheelchair Real Time Obstacle Avoiding and control intelligent wheel chair accurately, stably travel.
Description of drawings
Fig. 1 is the utility model system principle block scheme.
Embodiment
For technological means, creation characteristic that the utility model is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the utility model.
As shown in Figure 1, a kind of intelligent wheelchair control system, formed by sensor, controller, actuator and human-computer interaction device, sensor is connected by signal with controller, and sensor is transported to controller with the signal that collects, and controller connects actuator by D/A converter, actuator is used for driving wheelchair and turns to, the human-computer interaction device is connected to controller, accepts the instruction action of controller, and controller is connected with host computer by serial ports.
Controller is a single-chip microcomputer, adopts Ling Yang 16 single-chip microcomputer SPCE061A of company, and the resource of this single-chip microcomputer not only can satisfy the designing requirement of these works, and the SPCE061A single-chip microcomputer is fit to the speech processing applications field very much.
Sensor comprises speech transducer, ultrasonic sensor and imageing sensor, and speech transducer is converted into electric signal with voice signal, gathers through the A/D of single-chip microcomputer ALT-CH alternate channel; Ultrasonic sensor is used for measuring the distance between wheelchair and barrier, realizes wheelchair automatic obstacle avoiding and navigation; Imageing sensor is used for the road pavement information, is converted to the digital signal image by A/D, and completes acquisition and processing by single-chip microcomputer.
Actuator comprises two 24V permanent magnet DC motors, turns to by the differential control wheelchair.Be connected with control lever on direct current generator, can the manual operation direct current generator by control lever.
The human-computer interaction device comprises loudspeaker, LCD and LED, described loudspeaker is used for playing voice suggestion, realize the interactive voice between wheelchair and user, described LCD is for showing current wheelchair oneself state information, and described LED is used to indicate the current various states of wheelchair.
The utlity model has following advantage,
1) mode controlled in voice
For the control of wheelchair, it is nothing but the most natural, control mode the most easily that voice are controlled.The mode of controlling voice adopts Ling Yang 16 single-chip microcomputer SPCE061A of company as the system core, first by the order of MIC training utterance, extracts characteristic parameter and imports to formation speech model storehouse in FLASH.In identifying, utilize built-in function that the model in voice signal to be measured and speech model storehouse is carried out similarity relatively, identify and successfully carry out the intelligent wheel chair motion control of being correlated with.
2) ultrasound wave independent navigation mode
Ultrasound wave independent navigation mode adopts ultrasonic sensor to realize that wheelchair keeps away barrier and control, because wheelchair will realize keeping away safely barrier, at first must fully realize external environment condition, so this mode adopts the multiplex ultrasonic sensor that is distributed on different directions to carry out perception to environment.Ultrasound wave is sent by transmitting terminal, runs into barrier and returns, and receiver becomes ultrasonic signal into electric signal, and electric signal is sent into the SPCE061A single-chip microcomputer through amplification, bandpass filtering and shaping.Calculate wheelchair apart from the distance of barrier hyperacoustic interval time by measuring from the emission ultrasound wave to receiving, then by adopting suitable control strategy to realize the Real Time Obstacle Avoiding of wheelchair.
3) vision independent navigation mode
The vision autonomous navigation system is by detection system, and three parts of control decision system and power system form.Wherein detection system adopts cmos image sensor; The control decision system adopts SPCE061A as Master control chip; Power system is mainly the rotating speed that four road analog voltage signals of control simulation control lever generation are controlled direct current generator.Whole flow process is, detection system gathers routing information, through control decision systematic analysis and judgement, controls direct current generator by power system and provides suitable rotating speed, thereby control intelligent wheel chair accurately, stably travel.
4) multi-modal man-machine interaction
Intelligent wheel chair in use by different mode is merged, can reach better actual effect.By ultrasound wave automatic obstacle avoiding mode being fused in the middle of other three kinds of mode, wheelchair carry out manually control, voice are controlled and these the three kinds of mode instructions of vision independent navigation before can the automatic decision wheelchair whether can safety these instructions of execution, and by the form of voice broadcast, information is fed back to the user, thereby make travelling of intelligent wheel chair more safe and reliable.Equally, with the speech play technological incorporation in other three kinds of mode, wheelchair according to the state of self can be real-time the user is carried out voice suggestion, thereby play better man-machine interaction effect.
Above demonstration and described ultimate principle of the present utility model and principal character and advantage of the present utility model.The technician of the industry should understand; the utility model is not restricted to the described embodiments; that describes in above-described embodiment and instructions just illustrates principle of the present utility model; under the prerequisite that does not break away from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall in claimed the utility model scope.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (6)
1. intelligent wheelchair control system, it is characterized in that: formed by sensor, controller, actuator and human-computer interaction device, described sensor is connected by signal with controller, sensor is transported to controller with the signal that collects, described controller connects actuator by D/A converter, and described actuator is used for driving wheelchair and turns to, and described human-computer interaction device is connected to controller, accept the instruction action of controller, described controller is connected with host computer by serial ports.
2. a kind of intelligent wheelchair control system according to claim 1, it is characterized in that: described controller is a single-chip microcomputer.
3. a kind of intelligent wheelchair control system according to claim 1, it is characterized in that: described sensor comprises speech transducer, ultrasonic sensor and imageing sensor; Described speech transducer is converted into electric signal with voice signal, gathers through the A/D of single-chip microcomputer ALT-CH alternate channel; Described ultrasonic sensor is used for measuring the distance between wheelchair and barrier, realizes wheelchair automatic obstacle avoiding and navigation; Described imageing sensor is used for the road pavement information, is converted to the digital signal image by A/D, and completes acquisition and processing by single-chip microcomputer.
4. a kind of intelligent wheelchair control system according to claim 1, it is characterized in that: described actuator comprises two 24V permanent magnet DC motors.
5. a kind of intelligent wheelchair control system according to claim 4 is characterized in that: be connected with control lever on described direct current generator, and can the manual operation direct current generator by control lever.
6. a kind of intelligent wheelchair control system according to claim 1, it is characterized in that: described human-computer interaction device comprises loudspeaker, LCD and LED, described loudspeaker is used for playing voice suggestion, realize the interactive voice between wheelchair and user, described LCD is for showing current wheelchair oneself state information, and described LED is used to indicate the current various states of wheelchair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220724037 CN202995348U (en) | 2012-12-25 | 2012-12-25 | An intelligent wheelchair controlling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220724037 CN202995348U (en) | 2012-12-25 | 2012-12-25 | An intelligent wheelchair controlling system |
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| CN202995348U true CN202995348U (en) | 2013-06-12 |
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| CN 201220724037 Expired - Fee Related CN202995348U (en) | 2012-12-25 | 2012-12-25 | An intelligent wheelchair controlling system |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102968110A (en) * | 2012-12-05 | 2013-03-13 | 施耐德万高（天津）电气设备有限公司 | Multi-power-supply automatic transfer switch (ATS) signal processing system based on multiple processors and control method for multi-power-supply ATS signal processing system |
| CN106038099A (en) * | 2016-06-24 | 2016-10-26 | 张学海 | Smart wheelchair controlled wirelessly and remotely by mobile terminal |
| CN106137581A (en) * | 2016-06-24 | 2016-11-23 | 张学海 | Intelligent stair-climbing wheel chair and implementation method based on rolling code wireless key |
| CN106502130A (en) * | 2015-09-08 | 2017-03-15 | 张嘉霖 | Can be applicable to the electric-control system of electronic carrier |
| CN106647731A (en) * | 2016-09-19 | 2017-05-10 | 深圳博科智能科技有限公司 | Automatic returning seat and automatic returning method |
| CN107168198A (en) * | 2017-05-12 | 2017-09-15 | 武汉理工大学 | A kind of active intervention type method for controlling intelligent wheelchair and device |
| CN107450556A (en) * | 2017-09-11 | 2017-12-08 | 河北农业大学 | ROS-based autonomous navigation intelligent wheelchair |
| DE102016221365A1 (en) | 2016-10-28 | 2018-05-03 | Ford Global Technologies, Llc | Method and apparatus for automatically maneuvering a wheelchair relative to a vehicle |
| CN108309594A (en) * | 2018-03-14 | 2018-07-24 | 苏州辰晟优机电科技有限公司 | A kind of wheelchair |
| CN108743084A (en) * | 2018-05-29 | 2018-11-06 | 深圳大学 | A kind of electric wheelchair |
| CN109568034A (en) * | 2018-11-21 | 2019-04-05 | 河海大学常州校区 | A kind of intelligent wheel chair and its application method based on ROS |
| CN110587622A (en) * | 2019-09-09 | 2019-12-20 | 深圳市三宝创新智能有限公司 | Old-people-and-disabled-helping robot with wheelchair |
| CN113576780A (en) * | 2021-08-04 | 2021-11-02 | 北京化工大学 | Intelligent wheelchair based on semantic vision SLAM |
| CN113665652A (en) * | 2021-07-27 | 2021-11-19 | 中山小神童创新科技有限公司 | Stair climbing machine and voice interaction control method thereof |
-
2012
- 2012-12-25 CN CN 201220724037 patent/CN202995348U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102968110A (en) * | 2012-12-05 | 2013-03-13 | 施耐德万高（天津）电气设备有限公司 | Multi-power-supply automatic transfer switch (ATS) signal processing system based on multiple processors and control method for multi-power-supply ATS signal processing system |
| CN106502130B (en) * | 2015-09-08 | 2019-05-24 | 张嘉霖 | It can be applied to the electric-control system of electronic carrier |
| CN106502130A (en) * | 2015-09-08 | 2017-03-15 | 张嘉霖 | Can be applicable to the electric-control system of electronic carrier |
| CN106038099A (en) * | 2016-06-24 | 2016-10-26 | 张学海 | Smart wheelchair controlled wirelessly and remotely by mobile terminal |
| CN106137581A (en) * | 2016-06-24 | 2016-11-23 | 张学海 | Intelligent stair-climbing wheel chair and implementation method based on rolling code wireless key |
| CN106647731A (en) * | 2016-09-19 | 2017-05-10 | 深圳博科智能科技有限公司 | Automatic returning seat and automatic returning method |
| DE102016221365A1 (en) | 2016-10-28 | 2018-05-03 | Ford Global Technologies, Llc | Method and apparatus for automatically maneuvering a wheelchair relative to a vehicle |
| US10802501B2 (en) | 2016-10-28 | 2020-10-13 | Ford Global Technologies, Llc | Apparatus that automatically maneuvers a wheelchair relative to a vehicle |
| CN107168198A (en) * | 2017-05-12 | 2017-09-15 | 武汉理工大学 | A kind of active intervention type method for controlling intelligent wheelchair and device |
| CN107450556A (en) * | 2017-09-11 | 2017-12-08 | 河北农业大学 | ROS-based autonomous navigation intelligent wheelchair |
| CN108309594A (en) * | 2018-03-14 | 2018-07-24 | 苏州辰晟优机电科技有限公司 | A kind of wheelchair |
| CN108743084A (en) * | 2018-05-29 | 2018-11-06 | 深圳大学 | A kind of electric wheelchair |
| CN109568034A (en) * | 2018-11-21 | 2019-04-05 | 河海大学常州校区 | A kind of intelligent wheel chair and its application method based on ROS |
| CN110587622A (en) * | 2019-09-09 | 2019-12-20 | 深圳市三宝创新智能有限公司 | Old-people-and-disabled-helping robot with wheelchair |
| CN113665652A (en) * | 2021-07-27 | 2021-11-19 | 中山小神童创新科技有限公司 | Stair climbing machine and voice interaction control method thereof |
| CN113665652B (en) * | 2021-07-27 | 2022-02-25 | 中山小神童创新科技有限公司 | Stair climbing machine and voice interaction control method thereof |
| CN113576780A (en) * | 2021-08-04 | 2021-11-02 | 北京化工大学 | Intelligent wheelchair based on semantic vision SLAM |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130612 Termination date: 20131225 |