KR102592732B1 - Electric Wheelchair Based on Joystick Input with Obstacle Collision Avoidance Function - Google Patents

Abstract

An electric wheelchair based on wheelchair joystick input combined with an obstacle collision avoidance function can automatically create waypoints on a wide-area route in proportion to the strength of the joystick input and the direction of the handle.
The present invention can reduce the operator's operating fatigue by reaching the desired destination without the need to continuously operate the joystick, and has the effect of preventing accidents in emergency situations when the occupant is unable to operate the joystick.

Description

Wheelchair with Obstacle Collision Avoidance Function {Electric Wheelchair Based on Joystick Input with Obstacle Collision Avoidance Function}

The present invention relates to an electric wheelchair, and more specifically, to a wheelchair joystick input-based electric wheelchair combined with an obstacle collision avoidance function that automatically creates a waypoint on a wide-area route in proportion to the strength of the joystick input and the direction of the handle.

In general, the wheelchair currently in use is a device designed to allow physically disabled people, patients, or the elderly with limited mobility to move more easily. It is usually a manual wheelchair in which the user manually rotates the wheels mounted on both sides of the seat. Although it is widely used, there is a problem in that it is almost impossible for people with arm disabilities or the elderly to use it without help from others.

Recently, many electric wheelchairs have been developed that are easy to use by driving the wheels with a motor installed in the vehicle body, so that they do not require direct force from the user.

In this way, electric wheelchairs that use electricity as a driving force can freely control direction using a joystick-type controller connected to the wire, so they are becoming a convenient means of transportation for physically challenged users, and are gradually developing to become lighter and easier to control while driving. It is in

Conventional electric wheelchairs require the rider to continuously manually operate the joystick attached to the wheelchair, which can put a strain on the human body when operated for a long time and can make accurate operation difficult.

Conventional electric wheelchairs move according to the rider's joystick operation, so it is not easy for the rider to move to the desired point due to the rider's inexperience in operating the joystick, which may cause the rider to feel uncomfortable.

In addition, conventional electric wheelchairs do not have a means to control the wheelchair if the rider is in an emergency situation due to a mistake in operating the joystick.

Korean Patent No. 10-1838889

In order to solve this problem, the purpose of the present invention is to provide a wheelchair joystick input-based electric wheelchair combined with an obstacle collision prevention function that automatically generates waypoints of a wide-area path in proportion to the joystick input strength and the direction of the handle. .

In order to achieve the above object, a wheelchair joystick input-based electric wheelchair combined with an obstacle collision prevention function according to the characteristics of the present invention,

A distance measurement sensor that acquires data about the distance to an external object;

An image acquisition unit including at least one camera that acquires an external image;

a map data storage unit that stores surrounding terrain information acquired at the current location as map data;

Receives front image information from the image acquisition unit, receives distance information from the distance measurement sensor, determines an object on the road as an obstacle based on the front image information and the distance information, and calculates the obstacle based on this. A driving obstacle detection unit that generates a cost map;

a wide-area route creation unit that generates a wide-area route in map data based on the coordinate information of the starting point and destination input by the input unit; and

If the waypoint corresponding to the destination is located at an obstacle in the cost map, a waypoint generator for generating one or more waypoints by setting the waypoint corresponding to the destination at a point without obstacles in the wide area route. Includes.

A wheelchair joystick input-based electric wheelchair combined with an obstacle collision prevention function according to the characteristics of the present invention,

A direction measuring unit that extracts up, down, left, and right direction information according to the rotation range of the joystick lever using an angle sensor is connected to variable resistors whose resistance value changes according to the operation of the joystick lever, and the resistance A joystick controller consisting of a joystick input intensity measuring unit that outputs voltage intensity according to the value;

A distance measurement sensor that acquires data about the distance to an external object;

An image acquisition unit including at least one camera that acquires an external image;

a map data storage unit that stores surrounding terrain information acquired at the current location as map data;

Receives front image information from the image acquisition unit, receives distance information from the distance measurement sensor, determines an object on the road as an obstacle based on the front image information and the distance information, and calculates the obstacle based on this. A driving obstacle detection unit that generates a cost map;

a wide-area route creation unit that generates a wide-area route in map data based on the coordinate information of the starting point and destination input by the input unit; and

If the waypoint corresponding to the destination is located at an obstacle in the cost map, the waypoint corresponding to the destination is set to be located at a point where there is no obstacle in the wide area route, and the cost map, the direction information, and the voltage are set to be located at a point where there is no obstacle. It includes a waypoint generator that generates one or more waypoints based on the intensity of the wide area path.

By the above-described configuration, the present invention can reduce the operator's operating fatigue by reaching the desired destination without the need to continuously operate the joystick, and can prevent accidents in emergency situations when the passenger is unable to operate the joystick. It works.

Figure 1 is a diagram showing the configuration of a wheelchair joystick input-based electric wheelchair combined with an obstacle collision prevention function according to an embodiment of the present invention.
Figure 2 is a block diagram briefly showing the internal configuration of an electric wheelchair according to an embodiment of the present invention.
3 and 4 are diagrams showing the relationship between variable resistance and output voltage according to movement of a joystick lever according to an embodiment of the present invention.
Figure 5 is a diagram showing an example of joystick-based navigation according to an embodiment of the present invention.

Throughout the specification, when a part is said to “include” a certain element, this means that it may further include other elements rather than excluding other elements, unless specifically stated to the contrary.

Figure 1 is a diagram showing the configuration of an electric wheelchair based on wheelchair joystick input combined with an obstacle collision prevention function according to an embodiment of the present invention, and Figure 2 is a block briefly showing the internal configuration of an electric wheelchair according to an embodiment of the present invention. 3 and 4 are diagrams showing the relationship between variable resistance and output voltage according to the movement of the joystick lever according to an embodiment of the present invention, and Figure 5 is an example of joystick-based navigation according to an embodiment of the present invention. This is the drawing shown.

The wheelchair joystick input-based electric wheelchair 100 combined with an obstacle collision prevention function according to an embodiment of the present invention can be conveniently moved by operating the joystick controller 110 placed in front of the armrest while the user is on the seat. there is. In other words, the user can drive the electric wheelchair 100 by operating the joystick controller 110 while placing the arm on the armrest.

The electric wheelchair 100 includes a joystick controller 110, a distance measurement sensor 120, an image acquisition unit 121, a storage unit 122, a GPS module 122a, a control unit 123, an input unit 124, and a display unit. It includes (124a), a driving obstacle detection unit 125, a map data storage unit 126, a wide area route creation unit 127, a waypoint creation unit 128, a driving unit 129, and a communication unit 129a.

The joystick controller 110 controls the speed and direction of the electric wheelchair 100 and is located in front of the armrest.

The joystick controller 110 includes a joystick lever 111, a rotation unit 112, a direction measurement unit 113, and a joystick input intensity measurement unit 114.

The joystick controller 110 can change the joystick lever 111 up, down, left, and right by installing a joystick lever 111, which is a part held by the user's hand, and a rotating part 112 on the bottom of the joystick lever 111.

The direction measuring unit 113 connects an angle sensor to one end of the rotating unit 112, and uses the angle sensor to extract up, down, left, and right direction information according to the rotation range of the joystick lever 111.

The joystick input intensity measuring unit 114 is connected to variable resistors whose resistance values change according to the operation of the joystick lever 111, and outputs the intensity of voltage according to the resistance value of the variable resistor.

The joystick input intensity measuring unit 114 forms a corresponding resistance value according to the operation of the joystick lever 111 and forms and outputs a voltage corresponding to the input intensity.

The distance measurement sensor 120 calculates distance information between the electric wheelchair and the object in front, such as a lidar sensor, an infrared sensor, or an ultrasonic sensor.

For example, a LiDAR sensor outputs a laser and receives the laser reflected from an object, thereby obtaining information such as the distance from the object that reflected the laser, location direction, and material, and topographical information of the driving area. It can be obtained.

The image acquisition unit 121 may acquire images around the electric wheelchair 100 and may include a digital camera. A digital camera includes an image sensor (e.g., CMOS image sensor) that includes at least one optical lens and a plurality of photodiodes (e.g., pixels) that produce images by light passing through the optical lens. , may include a digital signal processor (DSP) that configures an image based on signals output from photodiodes.

The image acquisition unit 121 may photograph obstacles existing in front of the electric wheelchair 100 in the traveling direction. The image acquisition unit 121 acquires a plurality of images by continuously photographing the surroundings of the electric wheelchair 100, and stores the acquired plurality of images in the storage unit 122.

The storage unit 122 may store a map of the driving area. The map stored in the storage unit 122 may be, for example, input from an external terminal or server that can exchange information with the electric wheelchair 100 through wired or wireless communication, and the electric wheelchair 100 It may have been created through self-learning.

The storage unit 122 may store data about a point or waypoint on the driving area. Here, the waypoint refers to a point that the electric wheelchair 100 can designate as a goal for driving, and is indicated by a dot in the drawing.

The map for the driving area stored in the storage unit 122 includes a navigation map including waypoints in the driving route, a Simultaneous Localization and Mapping (SLAM) map used to recognize obstacle locations, a cost map indicating obstacles in the driving area, etc. may include.

The GPS (Global Positioning System) module 122a measures the current position of the electric wheelchair 100 by measuring the relative position with an artificial satellite floating in a previously known geostationary orbit.

The GPS module 122a receives signals sent from GPS satellites and performs a function of obtaining location information data about the current location of the electric wheelchair 100.

The input unit 124 can input and store the operating environment of the control unit 123 and receive starting point information and destination information of the driving area.

The driving obstacle detection unit 125 receives front image information from the image acquisition unit 121 and distance information from the distance measurement sensor 120, and determines an object on the road as an obstacle based on the front image information and distance information. And based on this, a cost map is created in which obstacles are calculated as costs. Here, the cost map refers to data in which objects on the road in map data are recognized as obstacles.

The driving obstacle detection unit 125 sets the detected obstacle as an obstacle by setting it higher than the preset standard cost value. For example, an obstacle can be set to 1, and if it is not an obstacle, it can be set to 0.

The map data storage unit 126 may store information necessary for recognizing driving obstacles in autonomous driving, including the position of the front object received from the distance measurement sensor 120.

The map data storage unit 126 creates a wide-area route between the starting point and the destination as the shortest distance based on the distance value, and stores precise map data necessary to create a waypoint.

The map data storage unit 126 stores information processed in various forms in the process of recognizing a driving obstacle depending on whether the position coordinates of the object ahead are within a specific radius of the generated waypoint.

The wide-area route creation unit 127 generates a wide-area route in map data based on the coordinate information of the starting point and destination input by the input unit 124.

The wide-area route corresponds to the route on which the electric wheelchair 100 will travel, created by measuring with a satellite navigation system (GPS) from the starting point to the destination.

The waypoint generator 128 receives a cost map from the driving obstacle detection unit 125 and receives direction information and voltage strength from the joystick controller 110.

The waypoint generator 128 generates one or more waypoints of the electric wheelchair 100 based on the cost map, direction information, voltage strength, and wide-area path. Here, a waypoint refers to a plurality of intermediate points (or transit points) on a wide-area route.

The waypoint generator 128 has preset distance intervals between waypoints, and can change the distance intervals as needed.

The waypoint generator 128 automatically generates waypoints of a wide-area route in proportion to the voltage intensity (joystick input intensity) and direction information.

Figure 3 shows the relationship between variable resistance and output voltage according to the movement of the joystick lever 111 of the present invention.

As shown in Figures 3 and 4, the waypoint generator 128 is supplied from the power supply unit (not shown) according to the variable resistance corresponding to the up, down, left, and right directions when operating the joystick lever 111. The output voltage fluctuates, and the distance interval between waypoints is set differently in proportion to the fluctuating output voltage and the up, down, left, and right direction information.

The waypoint generator 128 may set the distance between waypoints to be different in proportion to the voltage intensity (joystick input intensity) and direction information.

When creating a waypoint, the waypoint generator 128 determines whether the destination waypoint is included in the cost map.

As shown in FIG. 5, when a waypoint is included in the cost map, the waypoint generator 128 determines that the destination is at an unreachable point if the location of the destination belongs to an obstacle, and determines that the destination corresponds to the destination. Set the waypoint to be located at a point where there are no obstacles.

At this time, when a plurality of waypoints corresponding to the destination are set, the waypoint generator 128 calculates the shortest distance from the starting point to the destination (waypoint) of the plurality of waypoints, and sets the smallest distance value among them. Set the corresponding waypoint as the destination.

The waypoint generator 128 generates a navigation map consisting of a driving route including a plurality of waypoints and outputs it to the display unit 124a.

The driving unit 129 transmits a driving signal and a speed command to the motor driving unit using the navigation map received from the waypoint generating unit 128.

The driving unit 129 applies a driving signal to the motor driving unit to control the car to operate in a driving mode of stop, move, or rotation, and moves autonomously from the starting point to the destination according to the navigation map. This driving unit 129 belongs to autonomous driving in the prior art and detailed description thereof will be omitted.

The present invention can reduce the operator's fatigue by reaching a desired destination without the need to continuously operate the joystick.

If the control unit 123 determines that the object distance is less than a preset value using the image information acquired from the image acquisition unit 121 and the distance information to the front object received from the distance measurement sensor 120, it is an emergency situation. After making the decision, the driving unit 129 is controlled and a drive stop signal and speed stop command are transmitted to the motor drive unit. The electric wheelchair 100 can perform emergency braking when an emergency situation occurs.

The control unit 123 periodically receives speed information of the electric wheelchair 100 from a speed sensor (not shown), and when the speed information is 0, it determines that the electric wheelchair 100 is stopped and counts the stopping time. .

If the counted stop time continues longer than the preset reference time, the control unit 123 determines it to be an emergency situation and includes the current location calculated by the GPS module 122a and image information acquired from the image acquisition unit 121. Emergency situation information can be generated and transmitted to the user terminal 130 through wireless communication through the communication unit 129a. The owner of the user terminal 130 may be a guardian or friend of the passenger, or may be an administrator belonging to a public institution such as a police station or fire department.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims are also possible. It falls within the scope of rights.

100: electric wheelchair 110: joystick controller
111: Joystick lever 112: Rotating part
113: Direction measuring unit 114: Joystick input intensity measuring unit
120: Distance measurement sensor 121: Image acquisition unit
122: storage unit 122a: GPS module
123: control unit 124: input unit
124a: Display unit 125: Driving obstacle detection unit
126: Map data storage unit 127: Wide area route creation unit
128: Waypoint creation unit 129: Driving unit
129a: Communication unit 130: User terminal

Claims (8)

A distance measurement sensor that acquires data about the distance to an external object;
An image acquisition unit including at least one camera that acquires an external image;
a map data storage unit that stores surrounding terrain information acquired at the current location as map data;
Receives front image information from the image acquisition unit, receives distance information from the distance measurement sensor, determines an object on the road as an obstacle based on the front image information and the distance information, and calculates the obstacle based on this. A driving obstacle detection unit that generates a cost map;
a wide-area route creation unit that generates a wide-area route in map data based on the coordinate information of the starting point and destination input by the input unit; and
If the waypoint corresponding to the destination is located at an obstacle in the cost map, a waypoint generator for generating one or more waypoints by setting the waypoint corresponding to the destination to be located at a point without obstacles in the wide area route. A wheelchair joystick input-based electric wheelchair with obstacle collision avoidance function, including: A direction measurement unit that extracts up, down, left, and right direction information according to the rotation range of the joystick lever using an angle sensor is connected to variable resistors whose resistance value changes according to the operation of the joystick lever, and the resistance A joystick controller consisting of a joystick input intensity measuring unit that outputs voltage intensity according to the value;
A distance measurement sensor that acquires data about the distance to an external object;
An image acquisition unit including at least one camera that acquires an external image;
a map data storage unit that stores surrounding terrain information acquired at the current location as map data;
Receives front image information from the image acquisition unit, receives distance information from the distance measurement sensor, determines an object on the road as an obstacle based on the front image information and the distance information, and calculates the obstacle based on this. A driving obstacle detection unit that generates a cost map;
a wide-area route creation unit that generates a wide-area route in map data based on the coordinate information of the starting point and destination input by the input unit; and
If the waypoint corresponding to the destination is located at an obstacle in the cost map, the waypoint corresponding to the destination is set to be located at a point where there is no obstacle in the wide area route, and the cost map, the direction information, and the voltage are set to be located at a point where there is no obstacle. A wheelchair joystick input-based electric wheelchair combined with an obstacle collision avoidance function, including a waypoint generator that generates one or more waypoints based on the intensity of the wide area path. In claim 1 or claim 2,
The waypoint generator is a wheelchair joystick input-based electric wheelchair in which the distance interval between the waypoints is preset, and an obstacle collision prevention function that changes the distance interval as necessary is combined. In claim 1 or claim 2,
If the waypoint is included in the cost map, the waypoint generator determines that the destination is at an unreachable point if the destination is located in an obstacle, and a plurality of waypoints corresponding to the destination are set. , Wheelchair joystick input combined with an obstacle collision prevention function that calculates the shortest distance from the starting point to the destination (waypoint) of the plurality of waypoints, and sets the waypoint corresponding to the smallest distance value as the destination. Based electric wheelchair. In claim 2,
An electric wheelchair based on a wheelchair joystick input combined with an obstacle collision prevention function in which the waypoint generator sets the distance interval between the waypoints differently in proportion to the strength of the voltage and the direction information. In claim 4,
The waypoint generator generates a navigation map consisting of a driving route including the plurality of waypoints and outputs it to the display unit,
An electric wheelchair based on wheelchair joystick input combined with an obstacle collision prevention function, further comprising a driving unit that transmits a driving signal and a speed command to a motor drive unit using the navigation map received from the waypoint generator. In claim 2,
Periodically receives speed information of the electric wheelchair from a speed sensor, and if the speed information is 0, determines that it is stopped, counts the stop time, and if the counted stop time continues for more than a preset reference time, An obstacle collision prevention function is combined that further includes a control unit that determines an emergency situation, generates emergency situation information including the current location calculated by the GPS module and image information acquired from the image acquisition unit, and transmits it to the user terminal through wireless communication. Electric wheelchair based on joystick input. In claim 1 or claim 2,
The waypoint generator generates a plurality of waypoints at regular intervals in the wide-area route, and when the plurality of waypoints are located at an obstacle in the cost map, the waypoint located at the obstacle in the wide-area route is generated without an obstacle. An electric wheelchair based on wheelchair joystick input combined with an obstacle collision avoidance function that is set to be positioned at a point.

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