CN213690275U - Intelligent wheelchair control system - Google Patents
Intelligent wheelchair control system Download PDFInfo
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- CN213690275U CN213690275U CN202022828375.0U CN202022828375U CN213690275U CN 213690275 U CN213690275 U CN 213690275U CN 202022828375 U CN202022828375 U CN 202022828375U CN 213690275 U CN213690275 U CN 213690275U
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Abstract
The utility model relates to an intelligence wheelchair control system. The system mainly adopts a modularized design idea and is matched with a motor driving module, an emergency braking module, a manual operator module, a double-accompanying controller, a man-machine interaction module, a microcontroller and a communication module to form the system. In a working state, the microcontroller analyzes and processes the hand controller module and the double accompanying controllers to control the emergency braking module, the motor driving module and the man-machine interaction module, and realizes wireless communication through the CAN communication module. The system can realize multiple functions of automatic sensing, automatic obstacle avoidance, sensitive control, wireless communication, double accompanying and attending and the like of the wheelchair, and has the advantages of low power consumption, high safety, comprehensive functions, high cost performance and the like.
Description
Technical Field
The utility model relates to an intelligence wheelchair field specifically is an intelligence wheelchair control system.
Background
With the rapid development of the internet of things technology and the medical technology, in order to better serve the old and the weak and the disabled, help them to return to normal life, reduce psychological stress and family burden, and also in order to save the manufacturing cost to the maximum extent, intelligent wheelchairs are actively developed in various countries. At present, the intelligent wheelchair replaces a hand-operated wheelchair, the problems of small range of motion, low autonomy and the like are solved to a great extent, and the intelligent wheelchair plays an increasingly important role in daily life. However, the research technology of the electric wheelchair in China still lags behind abroad, which causes that the intelligent wheelchair in the market is expensive and cannot be accepted by common families. Therefore, the active research on the economical and reliable intelligent wheelchair plays an important role in replacing import and leading to the research and development of domestic technology.
The intelligent wheelchair control system designed by the text takes STM32 and M68HC12 series as control cores, integrates Internet of things and automation technology, realizes multiple functions of controllability, automatic perception, reliable control, wireless communication and the like of the wheelchair, and enables the wheelchair to have better autonomy and adaptability. According to the characteristics of the intelligent wheelchair, various human-computer interaction modes are adopted to coexist in the same control system, so that the flexible and convenient operation purpose is achieved. The system is added with the functions of emergency braking and emergency obstacle avoidance, and the obstacle avoidance control of the intelligent wheelchair in a complex environment is realized by optimizing a control mode.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an intelligence wheelchair control system, this system are main control chip based on STM32 and M68HC12 series, mainly adopt the modular design thinking to brushless DC motor is equipped with advanced low-power consumption control chip, CAN communication module, emergency braking module as the executor, and two controllers of accompanying and attending to realize multiple functions such as the automatic perception of wheelchair, automatic obstacle avoidance, sensitive control, radio communication, two accompanies and attend to.
The purpose of the utility model is realized through the following technical scheme:
an intelligent wheelchair control system mainly comprises a motor driving module, an emergency braking module, a manual operator module, a double accompanying controller, a man-machine interaction module, a microcontroller and a communication module, wherein the circuits are divided into a camera sampling circuit, an interface circuit of a CAN communication module, a driving controller driving circuit and a display circuit, the intelligent wheelchair control system has diversified control modes, a main control chip is used for carrying out corresponding analysis and processing on input quantities of the manual operator module and the double accompanying controller to control the motor driving module and control the movement of a wheelchair, and three modules of the system CAN realize close-distance side-by-side accompanying function between the wheelchair and a user and long-distance WIFI wireless communication between the wheelchair and a guardian through the CAN communication module; under the emergency condition, the intelligent wheelchair can realize emergency braking, and when the wheelchair falls down, the intelligent wheelchair can immediately brake and simultaneously send an emergency braking signal to a mobile phone end of a guardian.
The microcontroller is a main control chip, STM32F103RBT6 and MC9S12DG128 products are selected as the main control chip, and the control chip system has the advantages of low power consumption, capability of efficiently processing a large amount of information and complete hardware performance with sufficient storage space.
The manual operator module and the main key functions of the manual operator comprise a power switch key, a speed increasing and decreasing key, a horn key, an emergency brake key, a key locking indication, an accompanying indication and a fault indication, and the module is mainly divided into a camera module and a CAN communication module.
Furthermore, the camera module is used as an image sensor to assist in a corresponding emergency obstacle avoidance function, so that the intelligent wheelchair can realize an emergency braking function under an emergency condition. In the module, the camera is used for collecting information on a road, and once an obstacle is detected, the information is immediately transmitted to the microcontroller and then is realized through a corresponding emergency control function.
Furthermore, the CAN module adopts LVTTL logic level by a CAN bus controller for transmitting data by wire, and an 8-pin CAN transceiver SN65HVD230 requiring 3.3V voltage power supply is selected.
Furthermore, the method of coexistence of the CAN wired communication mode and the WIFI wireless communication mode is adopted as the communication mode of the whole control system, and the wired communication mode and the wireless communication mode are matched with each other, so that the reliability and the convenience of information transmission are achieved.
Furthermore, the motor driving module uses the brushless DC motor as the controller of the intelligent wheelchair of the actuator, has the advantages of high efficiency, long service life, small electromagnetic interference, simple and small structure and the like, and well meets the demand of short supply in the market. The driving controller outputs PWM waves after receiving information is completed, so that the purpose of controlling the left motor and the right motor is achieved, and therefore a motor driving circuit of the driving controller needs to use an IR2184 driving chip to be matched with an IR1404 to build a proper driving circuit, so that the left motor and the right motor are driven.
Further, two controllers of accompanying and attending to, it is independent, and need carry out real-time accurate control's complete function controller to motor drive controller, possesses following hardware architecture, including power supply module, signal acquisition module, keying circuit, WIFI wireless communication module and display circuit, and hardware architecture provides hardware support for the information transfer between two controllers of accompanying and attending to and the electric drive controller.
Furthermore, the man-machine interaction mode comprises a control rocker and key control, voice control and myoelectricity control, and multiple man-machine interaction modes coexist in the same control system, so that the flexible and convenient operation purpose can be achieved.
Further, the emergency braking module can realize emergency braking in an emergency situation, when the wheelchair falls down, the intelligent wheelchair can immediately brake and simultaneously send an emergency braking signal to a mobile phone end of a guardian, and immediately send an alarm to remind people around.
Furthermore, the camera sampling circuit, the interface circuit of the CAN communication module, the driving controller driving circuit and the display circuit provide the most basic working circuit for the main control chip.
Compared with the prior art, the utility model, following beneficial effect has:
the wheelchair is characterized in that a low-power-consumption microprocessor STM32F103TBT6 with strong anti-interference performance is used as a control core, data are safely and reliably processed, the Internet of things and the automation technology are integrated, multiple functions of controllability, automatic perception, reliable control, wireless communication and the like of the wheelchair are realized, and the wheelchair has better autonomy and adaptability. According to the characteristics of the intelligent wheelchair, various human-computer interaction modes are adopted to coexist in the same control system, so that the flexible and convenient operation purpose is achieved. The system is added with the functions of emergency braking and emergency obstacle avoidance, and the obstacle avoidance control of the intelligent wheelchair in a complex environment is realized by optimizing a control mode.
Drawings
FIG. 1 is a diagram: the general structure block diagram of the utility model
FIG. 2 is a diagram of: the structure of the utility model
Wherein: 1-seat, 2-armrest, 3-manual operator, 4-wheel, 5-left side of pedal wheel, 6-right side of pedal wheel, 7-DC brushless motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1, the utility model mainly comprises seven parts: the system comprises a motor driving module, an emergency braking module, a manual operator module, a double-accompanying controller, a man-machine interaction module, a microcontroller and a communication module.
In the working process, the manual operator is a key part for directly controlling the intelligent wheelchair by a user, collects the position information of the operating lever and transmits the position information to the driving controller in real time after A/D conversion. The driving controller performs real-time differential control on the left motor and the right motor of the driving controller through the manual operator to acquire speed gear control information, operating lever position information, whether the emergency brake key of the operating lever acts or not and other related information; the double-accompanying controller is designed for better communication between a wheelchair user and a caregiver of the wheelchair, in the running process of the intelligent wheelchair, the operating rocker is placed at a proper position, the speed locking button is pressed down, and after the driving controller memorizes the position, the speed and other information of the operating rocker at the moment, the intelligent wheelchair can automatically control the movement, so that the communication is convenient; the man-machine interaction module comprises an operation rocker and key control, voice control and myoelectric control, and multiple man-machine interaction modes coexist in the same control system, so that the flexible and convenient operation purpose can be achieved; the communication module adopts a method of coexistence of two communication modes of CAN wired communication and WIFI wireless communication, and the two communication modes are matched with each other, so that the reliability and convenience of information transmission are achieved. The emergency braking module has the functions of emergency braking and emergency obstacle avoidance, and the obstacle avoidance control of the intelligent wheelchair in a complex environment is realized by optimizing a control mode.
As shown in FIG. 2, the hand-operated vehicle comprises a seat 1, an armrest 2, a hand-operated operator 3, a wheel 4, a left side of a pedal wheel 5, a right side of a pedal wheel 6 and a brushless DC motor 7. The main control chip and the circuit are arranged at the bottom of the seat 1 to form a minimum circuit of the main control chip; the motor driving modules are arranged on two sides of the wheel 4 and used for driving motors of the left wheel and the right wheel; the double-accompanying controller keys are arranged at the positions of the armrests 2; the operating rod of the double accompanying controller is arranged at the position of the manual operator 3; the four sensors are respectively arranged on the armrests 2, two positions are counted, the left sides 5 of the pedal wheels and the right sides 6 of the pedal wheels are measured, the inclination angle and the distance from the obstacles in the movement process of the wheelchair are measured, and the emergency obstacle avoidance function is utilized to automatically avoid the obstacles; the communication module and the emergency braking module are both arranged at the chair back position of the chair 1 and are used for real-time monitoring, communication and emergency braking; all modules are connected with the main control chip through wires, attention is paid to hiding during wiring, the main control chip is partially packaged, and the wireless communication module and the emergency braking module can be packaged together.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. An intelligence wheelchair control system which characterized in that: the intelligent vehicle-mounted intelligent control system mainly comprises a motor driving module, an emergency braking module, a manual operator module, a double accompanying controller, a human-computer interaction module, a microcontroller and a communication module, wherein the microcontroller analyzes and processes the manual operator module and the double accompanying controller and controls the emergency braking module, the motor driving module and the human-computer interaction module, and wireless communication is realized through a CAN communication module; the circuit in the intelligent wheelchair control system is divided into a camera sampling circuit, an interface circuit of a CAN communication module, a driving controller driving circuit and a display circuit, so that various functions of automatic sensing, automatic obstacle avoidance, sensitive control, wireless communication, double accompanying and the like of the wheelchair CAN be realized.
2. The intelligent wheelchair control system of claim 1 wherein: the intelligent wheelchair control system comprises a microcontroller, a control chip and a control chip, wherein the microcontroller is a main control chip, the main control chip is an STM32F103RBT6 product and an MC9S12DG128 product, circuits in the intelligent wheelchair control system are connected with the main control chip, and the main control chip processes and controls data of the intelligent wheelchair control system.
3. The intelligent wheelchair control system of claim 1 wherein: the manual operator module mainly comprises a camera module and a CAN communication module, the manual operator module is installed in the manual operator, and the main key functions of the manual operator include a power switch key, a speed increasing and decreasing key, a horn key, an emergency brake key, a key locking indication, an accompanying indication and a fault indication.
4. The intelligent wheelchair control system of claim 1 wherein: the camera module takes MC9S12DG128 as a main control chip and is used as an image sensor, once an obstacle is detected, information is immediately transmitted to the microcontroller, and the functions of emergency braking and sensitive obstacle avoidance are achieved.
5. The intelligent wheelchair control system of claim 1 wherein: the wireless communication module is an 8-pin CAN transceiver SN65HVD230 which needs 3.3V voltage power supply, and the double-accompanying controller realizes real-time control of the motor driving controller.
6. The intelligent wheelchair control system of claim 1 wherein: the motor driving module is used for controlling motors fixedly arranged on a left rear wheel and a right rear wheel of the wheelchair, the motors are direct-current brushless motors, and the motor driving module realizes basic functions of adjusting the driving speed, steering control and motion control of the electric wheelchair through controlling the rotating speeds of the two direct-current brushless motors.
7. The intelligent wheelchair control system of claim 1 wherein: the camera sampling circuit, the interface circuit of the CAN communication module, the driving controller driving circuit and the display circuit are minimum systems of a main control chip STM32F103RBT6 and an MC9S12DG128, so that the camera sampling circuit, the interface circuit of the CAN communication module, the driving controller driving circuit and the display circuit CAN work normally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022828375.0U CN213690275U (en) | 2020-11-30 | 2020-11-30 | Intelligent wheelchair control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022828375.0U CN213690275U (en) | 2020-11-30 | 2020-11-30 | Intelligent wheelchair control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213690275U true CN213690275U (en) | 2021-07-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022828375.0U Expired - Fee Related CN213690275U (en) | 2020-11-30 | 2020-11-30 | Intelligent wheelchair control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213690275U (en) |
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2020
- 2020-11-30 CN CN202022828375.0U patent/CN213690275U/en not_active Expired - Fee Related
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210713 |