KR101305336B1 - System for autonomous navigating wheelchair using differential global positioning system and method therefor - Google Patents

Abstract

PURPOSE: An automatic wheelchair navigation system and a method therefor are provided to enable a user to safely move to his or her destination. CONSTITUTION: An automatic wheelchair navigation system comprises an automatic wheelchair navigation device (100) and a vehicle boarding device (200). The automatic wheelchair navigation device can navigate a wheelchair based on a destination and a direction in linking with a differential global positioning system. The vehicle boarding device controls a lift for lifting a wheelchair and a hood according to a signal transmitted from the automatic wheelchair navigation device and is coupled to or released from the wheelchair. The vehicle boarding device comprises a driving control unit, a driving unit, and a coupling unit. [Reference numerals] (100) Automatic wheelchair navigation device; (200) Vehicle boarding device

Description

Wheelchair autonomous driving system and its method {SYSTEM FOR AUTONOMOUS NAVIGATING WHEELCHAIR USING DIFFERENTIAL GLOBAL POSITIONING SYSTEM AND METHOD THEREFOR}

The present invention relates to a wheelchair autonomous driving system and a method thereof, and more particularly, according to a route plan to the inside and outside of a vehicle using a differential global positioning system (DGPS), it is possible to safely move a traffic weak person using a wheelchair in a target direction. The present invention relates to a technology for autonomous vehicle riding and getting off.

In the future, technology development of welfare-type vehicles and systems for the disabled is expected. At present, there is a demand for a system that can be used to ride a vehicle without the assistance of others in the case of a handicapped person with a moderate disability that can not accommodate wheelchair independently.

On the other hand, with regard to the wheelchair autonomous driving system, a number of applications and publications other than Korea Patent Publication No. 10-2011-0118965 (hereinafter referred to as "prior literature") is disclosed.

The system according to the prior art is a self-driving system constructed by mounting on a wheelchair, using a camera equipped with an infrared filter and a light source to detect a pupil to obtain a center point, and using the center point to designate a region having a reflective point. By detecting the center of the reflection points. A gaze recognition interface for recognizing a direction in which a current gaze is directed based on the obtained center points and transferring a command corresponding to the direction to a motor control module to control a wheelchair; The autonomous driving module is configured to configure the ultrasonic sensors and the obstacle information sensed by the ultrasonic sensors is transmitted to the sensor control board, and the sensor control board is configured to determine whether there is an obstacle and transmit a command to the motor control board to avoid the obstacle. ; When the command is transmitted to the gaze recognition interface, the autonomous driving module operates and the autonomous driving module always stops the initial state, and finds the pupil and the two reflection points in the gaze recognition interface, and proceeds to the gaze recognition command. When the transmission state is changed to a progress state, the electric wheelchair mounted to the system of the present invention is moved forward, and in the progress state, the sensor is characterized in that the progress of the wheelchair changes according to the detection of the obstacle.

However, the prior art requires expensive equipment such as an infrared light source camera and an ultrasonic sensor, has a problem in that the system is complicated, and there is a problem that is not considered at all in connection with getting on and off the vehicle.

The present invention has been made in view of the above problems, according to the route planning to the inside and outside of the vehicle using the DGPS (Differential Global Positioning System), it is possible to safely move the vehicle using a wheelchair in the target direction, autonomously It is an object of the present invention to provide a wheelchair autonomous driving system and a method for allowing riding and getting off.

The present invention for achieving the technical problem relates to a wheelchair autonomous driving system, in conjunction with the DGPS, a wheelchair autonomous driving device for autonomous driving of the wheelchair according to a route plan based on the target position and direction inside and outside the vehicle; And a vehicle boarding device which controls a lift and a hood for getting on and off the wheelchair according to a signal transmitted from the wheelchair autonomous driving device, and which is engaged or released with the wheelchair. .

In addition, the wheelchair autonomous driving device generates information on getting on and off based on a user's input signal, and receives various information about getting on and off the vehicle, including the boarding device and the getting on and off request, the vehicle control, and the end of getting off and on. Getting on and off the information generating unit; A DGPS linkage unit that interlocks with the DGPS, generates a route plan based on a target position and orientation inside and outside the vehicle, generates driving information according to the route plan, and transmits the driving information to the wheelchair driver; And a wheelchair driver configured to calculate a speed and a motor compensation angle according to an entry or exit path to the lift and a slope in real time, and to autonomously drive a wheelchair based on the calculated information and driving information generated from the DGPS linkage unit. Characterized in that it comprises a.

In addition, the DGPS interlocking unit monitors the accident situation so that the wheelchair can autonomously run as the route plan, and the accident situation is output through the getting on and off information generation unit and the vehicle boarding device.

In addition, the DGPS interlocking unit, characterized in that the interlocking with the DGPS based on the DGPS point located in the wheelchair, vehicle, wheelchair autonomous driving device and vehicle vehicle.

The wheelchair drive unit may include a gyro sensor and an acceleration sensor.

In addition, the wheelchair drive unit, characterized in that the interlocking with the obstacle sensor mounted on the rear of the vehicle and the obstacle sensor mounted on the wheelchair.

The vehicle boarding device may include: a driving control unit controlling a driving unit based on information transmitted from the wheelchair autonomous driving device; A drive unit for driving a lift and a hood for getting on and off the wheelchair under control of the drive control unit; And a fastening part which is fastened to and released from the wheelchair and generates and outputs a 'ride off signal' according to the fastening; Characterized in that it comprises a.

On the other hand, the present invention is a wheelchair autonomous driving method, (a) a wheelchair autonomous driving device receiving a user's input signal; (b) the wheelchair autonomous driving device determining whether a user's input signal is ride request information; (c) in the case of the boarding request information, determining that the wheelchair autonomous driving device generates a 'ride request signal' and transmits it to the vehicle boarding device; (d) controlling, by the vehicle boarding device, that the hood is opened and the lift descends to the ground according to the 'ride request signal'; (e) transmitting, by the vehicle boarding device, a vehicle control end signal relating to lift and hood control to the wheelchair autonomous driving device; (f) the wheelchair autonomous driving device interlocked with the DGPS to generate a route plan based on a target position and orientation in the vehicle; (g) generating, by the wheelchair autonomous driving device, driving information according to a route plan; (h) calculating, by the wheelchair autonomous driving device, a speed and a motor compensation angle according to an entry path and an inclination to a lift in real time; (i) allowing the wheelchair autonomous driving device to autonomously drive the wheelchair to a target position in the vehicle based on the calculation information regarding the speed and the motor compensation angle and the driving information generated through the step (g); And (j) generating and outputting a 'ride off signal' according to the vehicle boarding device when the wheelchair is fastened with the vehicle boarding device as the passenger boards the vehicle; Characterized in that it comprises a.

And (k) determining whether the wheelchair autonomous driving device is the disembarkation request information when the determination result of the step (b) is not the ride request information; (l) in the case of the step (k), when the get off request information, the wheelchair autonomous driving device generates a 'get off request signal' and transmits it to the vehicle boarding device; (m) controlling, by the vehicle boarding device, that the hood is opened and the lift descends to the ground according to the 'get off request signal'; (n) the vehicle boarding device transmitting a 'vehicle control end signal' regarding lift and hood control to the wheelchair autonomous driving device; (o) When the wheelchair is disengaged with the vehicle boarding device as the passenger gets off, the wheelchair autonomous driving device is interlocked with the DGPS to generate a route plan based on a target position and orientation outside the vehicle. step; (p) generating, by the wheelchair autonomous driving device, driving information according to a route plan; (q) calculating, by the wheelchair autonomous driving device, a speed and a motor compensation angle according to the exit path and the slope to the lift in real time; (r) generating, by the wheelchair autonomous driving device, obstacle information according to a driving route in association with an obstacle detecting sensor mounted on a rear of a vehicle and an obstacle detecting sensor mounted on a wheelchair; (s) The wheelchair autonomous driving device autonomously drives the wheelchair based on the driving information generated through the step (p), the calculation information on the speed and motor compensation angle, and the obstacle information according to the driving path, to the target position outside the vehicle. Getting off; And (t) the wheelchair autonomous driving device generating and outputting a 'stopping stop signal' based on a user's input signal; Characterized in that it comprises a.

According to the present invention as described above, it is possible to safely ride and get off the vehicle in the severely vulnerable traffic weakness, the cause that can be eliminated after getting off the wheelchair, which is the cause of avoidance of the vehicle operation, and the need for help of others such as mounting the wheelchair can be removed. There is.

1 is a schematic overall view showing a wheelchair autonomous driving system according to the present invention.
2 is a detailed block diagram of a wheelchair autonomous driving system according to the present invention.
3 is an overall flowchart of a wheelchair autonomous driving method according to the present invention.

Specific features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings. It is to be noted that the detailed description of known functions and constructions related to the present invention is omitted when it is determined that the gist of the present invention may be unnecessarily blurred.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the accompanying drawings.

The wheelchair autonomous driving system according to the present invention will be described with reference to FIGS. 1 to 2 as follows.

FIG. 1 is an overall configuration diagram conceptually illustrating a wheelchair autonomous driving system S according to the present invention, and includes a wheelchair autonomous driving device 100 and a vehicle boarding device 200 as shown.

The wheelchair autonomous driving device 100 performs a function of autonomous driving of the wheelchair 10 according to a route plan based on a target position and a direction inside and outside the vehicle 20 in cooperation with the DGPS, as shown in FIG. 2. As described above, it includes the getting on and off information generating unit 110, the DGPS interlocking unit 120 and the wheelchair drive unit 130.

The getting on and off information generating unit 110 generates information on getting on and off based on a user's input signal, and the vehicle boarding device 200 and various kinds of getting on and off the vehicle such as 'getting off request', 'vehicle control' and 'ending and getting off' Send and receive information.

In detail, in the case of boarding, the boarding information generating unit 110 generates a boarding request signal based on an input signal related to the boarding of the user and transmits the boarding request signal to the vehicle boarding device 200. Thereafter, the vehicle control apparatus 200 receives and outputs a 'vehicle control end signal' related to the control of the lift 30 and the hood 40. In addition, when the wheelchair 10 is fastened to the vehicle boarding device 200, the wheelchair 10 may receive and output a 'ride off signal' from the vehicle boarding device 200.

Meanwhile, in the case of getting off, the getting on and off information generating unit 110 generates a 'getting off request signal' based on an input signal relating to getting off of the user and transmits it to the vehicle boarding device 200. In addition, when the wheelchair 10 gets off to the getting off target position, it generates and outputs a 'getting off signal'.

In this case, the wheelchair autonomous driving device 100 including the getting on and off information generating unit 110 may be located within a short distance of the vehicle and about 10 m away from the vehicle.

The DGPS linkage unit 120 interlocks with the DGPS to generate a route plan based on a target position and orientation inside and outside the vehicle 20, and generate driving information according to the route plan to generate a wheelchair drive unit ( 130).

That is, the DGPS linkage unit 120 is interlocked with the DGPS based on the DGPS points located in the wheelchair 10, the vehicle 20, the wheelchair autonomous driving device 100, and the vehicle boarding device 200.

In addition, the DGPS interlocking unit 120 monitors an accident situation due to an obstacle or the like so as to autonomously drive the wheelchair 10 as the route plan, and the incident situation includes the getting on and off information generation unit 110 and the vehicle boarding device ( 200).

The wheelchair drive unit 130 is an electric wheelchair drive unit, and includes a gyro sensor 131 and an acceleration sensor 132, and the speed and the motor compensation angle according to the entry or exit path to the lift 30, and the slope in real time. It calculates, and drives the wheelchair 10 autonomously based on the calculated information and the driving information generated from the DGPS linkage unit 120.

In addition, the wheelchair drive unit 130 may be interlocked with the obstacle detecting sensor 50 mounted on the rear of the vehicle 20 and the obstacle detecting sensor 60 mounted on the wheelchair 10 to autonomously run.

Meanwhile, each or all of the getting on and off information generating unit 110, the DGPS interlocking unit 120, and the wheelchair driving unit 130 according to the present invention may input and output information regarding the vehicle boarding device 200 and wheelchair autonomous driving. Implemented in the form of an application, it can be applied to a mobile PC or a remote control such as smart phones and tablet PCs that can be connected to the Internet through a wireless LAN.

The vehicle boarding device 200 controls the lift 30 and the hood 40 for getting on and off the wheelchair 10 according to a signal transmitted from the wheelchair autonomous driving device 100, and is fastened or fastened with the wheelchair 10. As shown in FIG. 2, the driving control unit 210 includes a driving controller 210, a driving unit 220, and a fastening unit 230.

The driving control unit 210 controls the driving unit 220 based on the information transmitted from the getting on and off information generating unit 110 of the wheelchair autonomous driving device 100.

The driving unit 220 drives the lift 30 and the hood 40 for getting on and off the wheelchair 10 under the control of the driving control unit 210.

The fastening unit 230 is fastened and released with the wheelchair 10, and generates and outputs a 'ride off signal' according to the fastening. In this case, the 'ride finish signal' may be transmitted to the ride information generation unit 110 of the wheelchair autonomous driving device 100.

On the other hand, the fastening unit 230 may be a wheelchair 10 and a fastening jig, etc. are installed.

In the present embodiment, it is set to be automatically fastened and released according to the getting on and off movement of the wheelchair 10, the present invention is not limited to this, manually fastened and unlocked, or of the wheelchair autonomous driving device 100 On the basis of the information transmitted from the getting on and off information generation unit 110, the fastening unit 230 may be set to be fastened and released from the wheelchair 10.

Hereinafter, a wheelchair autonomous driving method using the above-described wheelchair autonomous driving system will be described with reference to FIG. 3.

3 is an overall flowchart of a wheelchair autonomous driving method according to the present invention. As shown in the drawing, the getting on and off information generating unit 110 of the wheelchair autonomous driving device 100 receives a user input signal (S10) and requests a ride. It is determined whether the information (S20).

As a result of the determination of step S20, when the boarding request information, the boarding information generating unit 110 generates a 'ride request signal' and transmits it to the vehicle boarding device 200 (S30).

In addition, the driving controller 210 of the vehicle boarding device 200 controls the hood 40 to be opened and the lift 30 descends to the ground according to the 'ride request signal' (S40), and the boarding information generating unit 110 ) Transmits a 'vehicle control end signal' regarding the control of the lift 30 and the hood 40 (S50).

Thereafter, the DGPS linkage unit 120 of the wheelchair autonomous driving device 100 interlocks with the DGPS to generate a route plan based on a target position and orientation in the vehicle 20 (S60). To generate the driving information according to the route plan and transmits to the wheelchair drive unit (130) (S70).

Subsequently, the wheelchair drive unit 130 calculates the speed and the motor compensation angle according to the entry path and the inclination to the lift 30 through the gyro sensor 131 and the acceleration sensor 132 in real time (S80), and the speed and motor compensation. The wheelchair 10 is autonomously driven based on the calculation information about the angle and the driving information generated from the DGPS linkage unit 120 to ride to the target position in the vehicle 20 (S90).

In addition, when the wheelchair 10 is engaged with the fastening unit 230 of the vehicle boarding device 200, the fastening unit 230 generates and outputs a 'ride off signal' according to the fastening (S100).

On the other hand, when the determination result of step S20, the ride request information is not, the getting on and off information generation unit 110 of the wheelchair autonomous driving device 100 determines whether the get-off request information (S110).

As a result of the determination in step S110, when the get-off request information, the getting on and off information generation unit 110 generates a 'get off request signal' and transmits it to the vehicle boarding device 200 (S120).

In addition, the driving controller 210 of the vehicle boarding device 200 controls the hood 40 to be opened and the lift 30 descends to the ground according to the 'getting off request signal' (S130), and getting on and off the information generating unit 110. ) Transmits the 'vehicle control end signal' regarding the control of the lift 30 and the hood 40 (S140).

When the wheelchair 10 is disengaged from the fastening part 230 of the vehicle boarding device 200 as the wheelchair 10 gets off, the DGPS linkage part 120 of the wheelchair autonomous driving device 100 is interlocked with the DGPS, and the vehicle 20 A route plan is generated based on an external target position and orientation (S150), and driving information according to the route plan is generated and transmitted to the wheelchair driver 130 (S160).

Subsequently, the wheelchair driver 130 calculates a speed and a motor compensation angle according to the exit path and the inclination to the lift 30 through the gyro sensor 131 and the acceleration sensor 132 in real time (S170) and the vehicle 20. Interlocking with the obstacle detection sensor 50 mounted on the rear of the obstacle and the obstacle detection sensor 60 mounted on the wheelchair 10 generates obstacle information according to the driving route (S180).

In addition, the wheelchair drive unit 130 autonomously drives the wheelchair 10 based on driving information generated from the DGPS linkage unit 120, calculation information on speed and motor compensation angle, and obstacle information according to a driving path. 20) Get off to the external target position (S190).

Thereafter, the getting on and off information generating unit 110 of the wheelchair autonomous driving device 100 generates and outputs a 'getting off signal' based on the user's input signal (S200). On the other hand, if the determination result of step S110, the stop request information, the process is terminated.

While the present invention has been particularly shown and described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It will be appreciated by those skilled in the art that numerous changes and modifications may be made without departing from the invention. Accordingly, all such appropriate modifications and changes, and equivalents thereof, should be regarded as within the scope of the present invention.

S: Wheelchair Autonomous Driving System
100: wheelchair autonomous driving device 110: getting on and off information generation unit
120: DGPS linkage unit 130: wheelchair drive unit
131: gyro sensor 132: acceleration sensor
200: vehicle boarding device 210: drive control unit
220: drive unit 230: fastening unit
10: wheelchair 20: vehicle
30: lift 40: hood
50: vehicle obstacle detection sensor 60: wheelchair obstacle detection sensor

Claims (9)

A wheelchair autonomous driving device 100 that autonomously drives the wheelchair 10 according to a route plan based on a target position and a direction inside and outside the vehicle 20 in association with the DGPS; And
The vehicle boarding device 200 which controls the lift 30 and the hood 40 for getting on and off the wheelchair 10 according to a signal transmitted from the wheelchair autonomous driving device 100, and is engaged or released with the wheelchair 10. ); Including but not limited to:
The vehicle boarding device 200,
A driving control unit 210 for controlling the driving unit 220 based on the information transmitted from the wheelchair autonomous driving device 100;
A drive unit 220 driving the lift 30 and the hood 40 for getting on and off the wheelchair 10 under the control of the drive control unit 210; And
A fastening part 230 which is fastened to and released from the wheelchair 10 and generates and outputs a 'ride-out signal' according to the fastening; Wheelchair autonomous running system comprising a.
The method of claim 1,
The wheelchair autonomous driving device 100,
Generate information about getting on and off based on the input signal of the user, and generating getting on and off information for transmitting and receiving various information about getting on and off including the vehicle boarding device 200 and the getting on and off request, the vehicle control and the getting off and ending Part 110;
In conjunction with the DGPS, the DGPS interworking to generate a route plan based on the target position and orientation (inside and outside the vehicle 20), to generate the driving information according to the route plan to the wheelchair drive unit 130 Unit 120; And
It calculates the speed and motor compensation angle according to the entry or exit path to the lift 30, and the slope in real time, and based on the calculated information and the driving information generated from the DGPS linkage unit 120, the wheelchair 10 is operated. Wheelchair drive unit 130 for autonomous driving; Wheelchair autonomous running system comprising a.
3. The method of claim 2,
The DGPS interworking unit 120,
Monitor the accident situation so that the wheelchair 10 can be autonomously driven according to the route plan, and the accident situation is output through the getting on / off information generation unit 110 and the vehicle boarding device 200. Odometer system.
3. The method of claim 2,
The DGPS interworking unit 120,
The wheelchair autonomous driving system, characterized in that the interlocking with the DGPS based on the DGPS points located in the wheelchair (10), the vehicle (20), the wheelchair autonomous driving device (100) and the vehicle boarding device (200).
3. The method of claim 2,
The wheelchair drive unit 130,
Wheelchair autonomous running system comprising a gyro sensor (131) and an acceleration sensor (132).
3. The method of claim 2,
The wheelchair drive unit 130,
Wheelchair autonomous driving system, characterized in that the interlocking with the obstacle sensor 50 mounted on the rear of the vehicle 20 and the obstacle sensor 60 mounted on the wheelchair (10).
delete In the wheelchair autonomous driving method,
(a) the wheelchair autonomous driving device 100 receiving an input signal from a user;
(b) the wheelchair autonomous driving device 100 determining whether a user's input signal is ride request information;
(c) in the case of the boarding request information, determining that the wheelchair autonomous driving device 100 generates a 'ride request signal' and transmits it to the vehicle boarding device 200;
(d) controlling the vehicle boarding device 200 so that the hood 40 is opened and the lift 30 descends to the ground according to the 'ride request signal';
(e) the vehicle boarding device 200 transmitting a 'vehicle control end signal' regarding the control of the lift 30 and the hood 40 to the wheelchair autonomous driving device 100;
(f) the wheelchair autonomous driving device 100 interworking with DGPS to generate a route plan based on a target position and orientation in the vehicle 20;
(g) generating, by the wheelchair autonomous driving device 100, driving information according to a route plan;
(h) calculating, by the wheelchair autonomous driving device 100, a speed and a motor compensation angle according to an entry path and an inclination to the lift 30 in real time;
(i) The wheelchair autonomous driving device 100 autonomously drives the wheelchair 10 based on the calculation information regarding the speed and motor compensation angle and the driving information generated through the step (g). Riding to a target position in the vehicle; And
(j) when the wheelchair 10 is fastened with the vehicle boarding device 200 as the passenger boards the vehicle, the vehicle boarding device 200 generates and outputs a 'ride off signal' according to the fastening; Wheelchair autonomous driving method comprising a.
The method of claim 8,
(k) determining that the wheelchair autonomous driving device 100 is the request for getting off, if the result of the determination of step (b) is not the request for boarding;
(l) when the determination result of step (k) indicates that the request for getting off is performed, the wheelchair autonomous driving device 100 generating a 'getting off request signal' and transmitting it to the vehicle boarding device 200;
(m) controlling the vehicle boarding device 200 so that the hood 40 is opened and the lift 30 descends to the ground according to the 'get off request signal';
(n) the vehicle boarding device 200 transmitting a 'vehicle control end signal' regarding the control of the lift 30 and the hood 40 to the wheelchair autonomous driving device 100;
(o) When the wheelchair 10 is disengaged with the vehicle boarding device 200 as the vehicle gets off, the wheelchair autonomous driving device 100 is interlocked with the DGPS, and thus the target position and direction outside the vehicle 20. generating a route plan based on an orientation;
(p) generating, by the wheelchair autonomous driving device 100, driving information according to a route plan;
(q) calculating, by the wheelchair autonomous driving device 100, the speed and the motor compensation angle according to the exit path and the slope to the lift 30 in real time;
(r) obstacle information according to the driving path of the wheelchair autonomous driving device 100 in conjunction with the obstacle detecting sensor 50 mounted on the rear of the vehicle 20 and the obstacle detecting sensor 60 mounted on the wheelchair 10. Generating a;
(s) The wheelchair autonomous driving device 100 autonomously drives the wheelchair 10 based on driving information generated through the step (p), calculation information on the speed and motor compensation angle, and obstacle information according to the driving route. To get off to the target position outside the vehicle 20; And
(t) the wheelchair autonomous driving device 100 generating and outputting a 'stopping stop signal' based on a user's input signal; Wheelchair autonomous driving method comprising a.

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