CN2807312Y - Embedded intelligent wheel chair control device - Google Patents
Embedded intelligent wheel chair control device Download PDFInfo
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- CN2807312Y CN2807312Y CN 200520002773 CN200520002773U CN2807312Y CN 2807312 Y CN2807312 Y CN 2807312Y CN 200520002773 CN200520002773 CN 200520002773 CN 200520002773 U CN200520002773 U CN 200520002773U CN 2807312 Y CN2807312 Y CN 2807312Y
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- 230000007613 environmental effect Effects 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 5
- 230000002441 reversible effect Effects 0.000 claims description 5
- 230000003321 amplification Effects 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 238000011022 operating instruction Methods 0.000 abstract 1
- 238000002604 ultrasonography Methods 0.000 description 7
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 210000003000 inclusion body Anatomy 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- 238000012795 verification Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The utility model relates to an embedded intelligent wheel chair control device, which comprises a controller which is used for processing environmental information and for sending control instructions, an ultrasonic sensor which is used for detecting operating environment of a wheel chair, an operating rod which is used for receiving instructions of users, a control switch which is used for changing the running mode of the wheel chair, and a drive circuit of a motor of the wheel chair, wherein the instruction information which is sent by the operating rod is collected by the controller through an A/D switching circuit to send out control signals for the motor of the wheel chair according to the environmental information which is obtained by the sensor to effectively carry out the operating instruction which is sent by a user to prevent the intelligent wheel chair from being crashed with the environment.
Description
Technical field
The utility model relates to the Robotics field, particularly a kind of imbedded type intelligent wheel chair control device.
Background technology
Quickening along with world population aging process, because the physical disabilities' that disaster and disease cause increase, how allowing the elderly and the disabled regain independent movable ability is a scientific and technical problem demanding prompt solution, wheelchair, as one of main vehicles of the elderly and the disabled, based on manual wheelchair and electric wheelchair two big classes, electric wheelchair is compared manual wheelchair, the elderly and the disabled independent movable ability and scope have been improved greatly, but also brought inconvenience and the danger of in some environment, using simultaneously, for example, passed through kissing gate, during perhaps long and narrow corridor, electric wheelchair will be difficult to pass through smoothly by the mode of handling; In addition, because people's the visual field is limited, electric wheelchair tends to when outdoor application because handle the improper unexpected danger that causes.
Intelligent wheel chair is owing to can discern environment by sensor, can effectively avoid dangerous generation and help the elderly and the disabled to finish the work that some are difficult to finish, so ten years in the past, be subjected to various countries researcher's generally attention gradually, all there is the appearance of intelligent wheel chair research project in countries such as the U.S., Germany, Japan, France, Canada, Spain and China, but most intelligent wheel chair is as the verification platform at a certain technology.For example: the TAO series of the Wheelesley of Massachusetts Institute Technology and Canadian AAI company is the inclusion body architecture in order to verify that Brooks proposes; The NavChair of University of Michigan then is the test that the vector field (VFH) that people such as Borenstein propose is kept away the barrier algorithm; The Vulcan of University of Texas then is the checking that is used for the space semantic structure (SSH) of Kuipers proposition, or the like.The most PCs (or notebook computer) that adopt of intelligent wheel chair are controlled at present, and the control system volume is big, costs an arm and a leg, and poor expandability also has certain distance from commercially producing.
Summary of the invention
The utility model proposes a kind of imbedded type intelligent wheel chair control device, this controller can by control lever accept the operator direction (forward, backward, a horizontal left side, laterally the right side is tiltedly preceding left, and is tiltedly preceding right, a left side tiltedly, tiltedly the back is right) instruct, and information is sent back controller; Sensor detects environment, and information is sent back controller, and controller is controlled current travel direction and speed according to environmental information.
The imbedded type intelligent wheel chair control device that the utility model proposes, comprise the controller that is used to control wheel chair sport and processing environment information, with control signal through amplifying the motor-driven template be converted into drive signal, be used to detect wheelchair running environment sensor, be used to accept the operating rod of user's instruction; Wherein, controller is come the positional information collection of operating rod through A/D converter, obtains environmental information by sensor, through after the overall treatment, be transformed into control signal, send signal to the motor-driven template by the I/O mouth, the corresponding motor of motor-driven template-driven, wherein operating rod is connected in controller, controller is connected in the motor-driven template, sensor and controller are interconnected, finish user's control command in real time, avoid the generation of colliding simultaneously.
A plurality of sensors that are used to detect wheelchair running environment.
Controller is linked to each other with operating rod by its AD ALT-CH alternate channel, its 4 tunnel width modulation (PWM) passage links to each other with the motor-driven template, the CAP of controller interrupts, 2 tunnel width modulations (PWM) passage, the I/O mouth links to each other with the multidiameter option switch of sensor respectively, make controller can obtain environmental information in real time, and through the motor-driven template wheelchair motor is controlled in view of the above from sensor.
Controller adopts digital signal processor.
The motor-driven template adopts bipolar system Reversible PWM transducer.
Sensor adopts a plurality of sonacs to be positioned on the body of wheelchair, is used to detect the distance between wheelchair and environment.
Can operate by the two-dimensional analog operating rod wheelchair.
The utility model controller outwards sends square wave by its width modulation (PWM) passage, the ultrasound emission circuit of driving sensor produces ultrasound wave, utilization receives this section time-delay before the echo, system handles previous sensor information, and according to the environmental information that obtains after handling, limit the maximal rate that current wheelchair travels, after time-delay and the information processing, controller is waited for ultrasound echo signal, receive echoed signal or surpass preset time also fail to receive response after, jump out etc. to be recycled by interrupt service routine, no matter whether receive echo, jump out circulation and carry out suitable time-delay later, avoid hyperacoustic repercussions effect under the working environment, utilize during this period of time, system start-up AD modular converter carries out the collection of stick position information, and according to previous processed environmental information later, in the velocity range of safety, the output of controlling and driving motor-driven template.After disposing, major cycle will begin circulation next time.
The utility model is a kind of service ROBOT CONTROL device, has the intelligent wheelchair ROBOT CONTROL system of collision prevention function.
Description of drawings
Fig. 1 is the intelligent wheelchair control system scantling plan.
Fig. 2 is the intelligent wheelchair control system hardware architecture.
Fig. 3 is an intelligent wheel chair sonac distribution plan.
Fig. 4 is the sonac ultrasonic emitting and accepts schematic diagram.
Fig. 5 is bipolar system Reversible PWM driver principles figure.
Embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
Referring to shown in Figure 1, the utility model is a kind of control device of intelligent wheel chair, comprises controller 1, sensor 2, operating rod 3, motor-driven template 4, motor 5; Be used for processing environment information and provide operating rod 3 that the controller 1 of steering order, the sensor 2, that are used to detect wheelchair running environment be used to accept user's instruction, one with control signal through amplifying the motor-driven template 4 that is converted into drive signal; Wherein, controller 1 is come the positional information collection of operating rod 3 through A/D converter, obtain environmental information by sensor 2, through after the overall treatment, be transformed into control signal, send signal to motor-driven template 4 by the I/O mouth, motor driver drives corresponding motor 5, finish user's control command in real time, avoid the generation of colliding simultaneously.
Each several part to the utility model control system describes below:
Controller 1: master controller adopts digital signal processor (DSP) as kernel control chip (MCU), and the basic function of controller 1 has: the collection of operating rod 3 positional informations; The collection and the processing of sensor 2 signals; Finish all motion control functions of wheelchair body;
Sensor 2: use 8 sonacs as environmental sensor, its distribution such as Fig. 3 on the wheelchair body: the place ahead is equipped with 4,2 at rear, about each 1, by collection to sonac information, the environmental information around controller 1 obtains in real time, and according to the safe class of current information, adjust the travelling speed of wheelchair in good time, thereby make wheelchair be in safe transport condition constantly; Sonac is transmitting-receiving allosome formula, and its emission and accept principle as shown in Figure 5 transmits and receives strategy and realizes by software programming.Therefore can carry out in good time modification according to the environment of wheelchair operation, strengthen the dirigibility and the extensibility of system.Can operate wheelchair by remote control mode.
Operating rod 3: adopt the two-dimensional analog operating rod as man-machine interaction mode, by digital signal processor two-way AD ALT-CH alternate channel, gather the two-dimensional coordinate value of stick position respectively, after through linear transformation and environmental information judgement, operating rod information is converted into the speed and the directional information of left and right sidesing driving wheel.
Motor-driven template 4: belong to bipolar system Reversible PWM transducer, its ultimate principle such as Fig. 5, characteristics such as it is continuous that this drive template has electric current, do not have the static friction dead band when stopping, and low-speed stability is good, and speed adjustable range is big.
Motor 5: be common electric wheelchair dynamo series.
Fig. 2 is intelligent wheelchair control system hardware architecture figure.
Its middle controller 1 adopts the digital signal processor (DSP) of TMS320 series LF2470A model, and the functional module that it was used comprises: CAP interruption, AD modular converter, 6 tunnel width modulations (PWM) passage, I/O mouth.
Comprise in the sensor 2: multidiameter option switch, a plurality of transmitting terminal and a plurality of receiving end.
Operating rod 3 and motor-driven template 4 be existing narration in the explanation of Fig. 1.
Can realize simultaneously that according to the utility model controller 1 environmental information is handled and 3 instructions provide steering order to wheelchair drive motor 5 according to operating rod.Be that controller 1 is linked to each other with operating rod 3 by its AD ALT-CH alternate channel, be used to obtain movement instruction, its 4 tunnel width modulation (PWM) passage links to each other with motor-driven template 4, is used for drive motor 5.The CAP of controller 1 interrupts, 2 tunnel width modulations (PWM) passage, the I/O mouth links to each other with the multidiameter option switch of sensor 2 respectively, makes controller 1 can obtain environmental information from sensor 2 in real time, and controls through 4 pairs of wheelchair left and right sides of motor-driven template drive motor 5 in view of the above.
Also comprise: a plurality of sonacs 2 that are used to detect wheelchair running environment.
Fig. 3 is the distribution schematic diagram of sonac 3, and four sonacs 2 are equipped with in the place ahead, about each one, two at rear, the maximum detectable range of sonac 2 is 2 meters.
Fig. 4 has provided controller 1 emission and has accepted hyperacoustic process, the digital signal processor S4.1 that controller 1 adopts produces modulating pulse wave by 2 tunnel width modulations (PWM) passage wherein, the amplifying circuit S4.2 that boosts in sensor 2 produces moment high-energy incentive signal, excitation ultrasound ripple transmitting transducer S4.3 produces ultrasound wave, accept transducer S4.4 and be responsible for receiving the ultrasound wave that from environment, reflects, after amplification filtering S4.5 and shaping treatment S 4.6, ultrasound echo signal is obtained by the capturing unit of digital signal processor S4.1 (CAP), thereby finishes the detection to environment obstacle distance information.
Fig. 5 has provided the circuit theory of motor-driven template 4 employing bipolar system Reversible PWM transducers,
Wherein, M is a motor 5, modulating pulse wave PWM1 in the motor-driven template 4, PWM2 are respectively the positive pulse and the negative pulse of same pulse width modulated wave, when the positive pulse broad, the average voltage at motor 5 two ends is for just, motor 5 is just changeing, when positive pulse narrower, during the negative pulse broad, the average voltage at motor 5 two ends is for negative, and motor 5 reverses.
Claims (6)
1. imbedded type intelligent wheel chair control device, it is characterized in that device comprises: be used for processing environment information and provide the controller (1) of steering order, the sensor (2) that is used to detect wheelchair running environment, an operating rod (3) that is used to accept user's instruction, a motor-driven template (4) that control signal is converted into drive signal through amplification; Wherein, controller (1) is come the positional information collection of operating rod (3) through A/D converter, obtain environmental information by sensor (2), through after the overall treatment, be transformed into control signal, send signal to motor-driven template (4) by the I/O mouth, motor-driven template (4) drives corresponding motor (5), operating rod (3) is connected in controller (1), and controller (1) is connected in motor-driven template (4), and sensor (2) is interconnected with controller (1).
2. according to the imbedded type intelligent wheel chair control device of claim 1, it is characterized in that, also comprise: a plurality of sensors (2) that are used to detect wheelchair running environment.
3. device according to claim 1, it is characterized in that, controller (1) is linked to each other with operating rod (3) by its AD ALT-CH alternate channel, its 4 tunnel width modulation (PWM) passage links to each other with motor-driven template (4), the CAP of controller (1) interrupts, 2 tunnel width modulations (PWM) passage, the I/O mouth links to each other with the multidiameter option switch of sensor (2) respectively, make controller (1) can obtain environmental information in real time, and pass through motor-driven template (4) in view of the above wheelchair motor (5) is controlled from sensor (2).
4. device according to claim 1 is characterized in that, controller (1) adopts digital signal processor.
5. device according to claim 1 is characterized in that, motor-driven template (4) adopts bipolar system Reversible PWM transducer.
6. device according to claim 2 is characterized in that, sensor (2) adopts a plurality of sonacs to be positioned on the body of wheelchair, is used to detect the distance between wheelchair and environment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520002773 CN2807312Y (en) | 2005-03-08 | 2005-03-08 | Embedded intelligent wheel chair control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520002773 CN2807312Y (en) | 2005-03-08 | 2005-03-08 | Embedded intelligent wheel chair control device |
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| Publication Number | Publication Date |
|---|---|
| CN2807312Y true CN2807312Y (en) | 2006-08-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520002773 Expired - Lifetime CN2807312Y (en) | 2005-03-08 | 2005-03-08 | Embedded intelligent wheel chair control device |
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| Country | Link |
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| CN (1) | CN2807312Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100435765C (en) * | 2005-03-08 | 2008-11-26 | 中国科学院自动化研究所 | Control system of imbedded type intelligent wheel chair and its method |
| CN102551969A (en) * | 2010-12-31 | 2012-07-11 | 昆山市工业技术研究院有限责任公司 | Control device for wheelchair |
| CN107997891A (en) * | 2016-10-28 | 2018-05-08 | 福特汽车公司 | The method and apparatus for manipulating wheelchair automatically relative to vehicle |
| CN108928350A (en) * | 2017-05-23 | 2018-12-04 | 夏普株式会社 | Mobile devices, travel control method, driving system and movement device |
-
2005
- 2005-03-08 CN CN 200520002773 patent/CN2807312Y/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100435765C (en) * | 2005-03-08 | 2008-11-26 | 中国科学院自动化研究所 | Control system of imbedded type intelligent wheel chair and its method |
| CN102551969A (en) * | 2010-12-31 | 2012-07-11 | 昆山市工业技术研究院有限责任公司 | Control device for wheelchair |
| CN107997891A (en) * | 2016-10-28 | 2018-05-08 | 福特汽车公司 | The method and apparatus for manipulating wheelchair automatically relative to vehicle |
| US10802501B2 (en) | 2016-10-28 | 2020-10-13 | Ford Global Technologies, Llc | Apparatus that automatically maneuvers a wheelchair relative to a vehicle |
| CN108928350A (en) * | 2017-05-23 | 2018-12-04 | 夏普株式会社 | Mobile devices, travel control method, driving system and movement device |
| CN108928350B (en) * | 2017-05-23 | 2021-07-09 | 夏普株式会社 | Travel device, travel control method, travel system, and operation device |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |
Expiration termination date: 20150308 Granted publication date: 20060816 |