WO2021108959A1

WO2021108959A1 - Intelligent traveling wheelchair used in small area

Info

Publication number: WO2021108959A1
Application number: PCT/CN2019/122464
Authority: WO
Inventors: 王静; 董铸荣; 李正国; 朱小春; 陈政甫; 杨锌彤; 陈良吉; 刘一鸣; 张尔文
Original assignee: 深圳职业技术学院
Priority date: 2019-12-02
Filing date: 2019-12-02
Publication date: 2021-06-10

Abstract

An intelligent traveling wheelchair used in a small area, comprising: a frame (10) and a seat (20), the seat (20) being disposed on the frame (10); and also comprising: a battery pack, a control chip, a first driving wheel (31), a first drive motor (501), a second driving wheel (32), a second drive motor (502), a first driven wheel (33), a second driven wheel (34), a lidar (60), an ultrasonic ranging sensor, and a gyroscope. Before using the wheelchair, it is necessary to turn on the lidar (60), make the wheelchair to travel once on all roads in a small area, perform scanning to obtain parameters of environment around the roads, and process the parameters of environment around the roads to obtain and store an area map of the small area; after obtaining the area map, the control chip automatically plans a traveling path according to a received destination; and the control chip drives the first drive motor (501) and the second drive motor (502) to rotate according to the planned path and a current precise position obtained, so as to drive the first driving wheel (31) and the second driving wheel (32) to travel according to the planned traveling path until reaching the destination. The intelligent traveling wheelchair can learn the environmental parameters of a small area and automatically recognize the path and move automatically in the small area, such that manual operations of users are reduced, thus improving user experience.

Description

A small area intelligent traveling wheelchair

Technical field

The invention relates to the field of electric wheelchairs, and more specifically, to a small-area intelligent traveling wheelchair.

Background technique

Traditional wheelchairs are divided into purely manual wheels and electric wheelchairs. Electric wheelchairs require users to operate manually, which is not convenient for some older people or users with poor operating ability. The inventor noticed that the use scenarios of wheelchairs are mostly in small areas, such as homes, residential areas, parks, hospitals, etc. These small areas have stable environments with few obstacles, and generally do not undergo large-scale changes, which are suitable for smart wheelchairs.

Summary of the invention

technical problem

The technical problem to be solved by the present invention is to provide a small-area intelligent traveling wheelchair in view of the above-mentioned defects of the prior art.

The solution to the problem

Technical solutions

The technical solution adopted by the present invention to solve its technical problems is to construct a small-area intelligent traveling wheelchair, including a frame and a seat, the seat is arranged on the frame, and the intelligent traveling wheelchair further includes:

The battery pack provides power for the entire intelligent traveling wheelchair;

A control chip, the control chip is an STM32F103ZET6 chip;

An algorithm chip, the algorithm chip is connected to the control chip through serial communication, and the algorithm chip is a Samsung 4418 S1818 NF86FA chip;

A first driving wheel and a first driving motor, the first driving motor is connected to and driving the first driving wheel to rotate, and the first driving motor is respectively connected to

pins

34, 40, and pins of the control chip 41;

A second driving wheel and a second driving motor, the second driving motor is connected to and driving the second driving wheel to rotate, and the second driving motor is respectively connected to pins 80, 81, and pins of the control chip 82;

The first driven wheel and the second driven wheel, the free rotation angle range of the first driven wheel and the second driven wheel is 360 degrees; the first driving wheel and the second driving wheel are arranged in the vehicle Behind the frame, the first driven wheel and the second driven wheel are arranged in front of the frame;

The lidar is arranged at the front end of the frame, the lidar is connected to the input end of the algorithm chip, the output end of the algorithm chip is connected to the pins 101 and 102 of the control chip, and the lidar is used Scanning a small area to obtain an area map of the small area;

An ultrasonic ranging sensor is arranged at the front end of the frame, and the ultrasonic ranging sensor is connected to the pin 35 and the pin 141 of the control chip;

A gyroscope, the gyroscope is connected to the pin 69 and the pin 70 of the control chip;

The intelligent traveling wheelchair needs to turn on the lidar before using it, travel once on all roads in the small area, scan the environmental parameters around the road, process the environmental parameters around the road to obtain and store the area map of the small area; After the area map, the control chip automatically plans the travel path according to the received destination; while the intelligent traveling wheelchair automatically travels according to the travel path, compare the current environmental parameters scanned by the lidar with the area map to obtain the The current approximate position of the intelligent traveling wheelchair, and then the ultrasonic ranging sensor and the gyroscope are used to further determine the current accurate position of the intelligent traveling wheelchair; the control chip drives the first drive according to the planned path and the current accurate position The motor and the second driving motor rotate, thereby driving the first driving wheel and the second driving wheel to travel according to a planned travel path until the destination is reached.

Further, the small-area smart wheelchair according to the present invention also includes a first encoder and a second encoder; the first encoder is a DRT38-SOM1024-RT1 encoder, and the second encoder is a DRT38-SOM1024- RT1 encoder;

The first encoder is coaxially installed with the first driving wheel, and is used to detect the rotation speed of the first driving wheel; the first encoder is connected to the 136, pin 137, and pin 140 of the control chip ；

The second encoder is coaxially installed with the second driving wheel, and is used to detect the rotation speed of the second driving wheel; the second encoder is connected to the 50, pin 53 and pin 54 of the control chip .

Further, the small-area intelligent traveling wheelchair of the present invention further includes a receiving module for receiving a destination input by a user, and the receiving module is connected to the input terminal of the algorithm chip.

Further, the small-area smart walking wheelchair of the present invention further includes a reset button RESET for resetting the control system of the smart walking wheelchair, and the first end of the reset button RESET is connected to the 3.3V of the battery pack through a resistor R5 Power supply terminal; the first terminal of the reset button RESET is connected to the pin 25 of the control chip, the first terminal of the reset button RESET is connected to the second terminal of the reset button RESET through a capacitor C1, the reset button RESET The second terminal is grounded.

Further, the small-area smart mobility wheelchair of the present invention further includes a first crystal oscillator Y1 that provides a clock signal for the RTC clock of the smart mobility wheelchair, and the first end of the first crystal oscillator Y1 is connected to the pins of the control chip 8. The second end of the first crystal oscillator Y1 is connected to pin 9 of the control chip; the first end of the first crystal oscillator Y1 is grounded through a capacitor C2, and the second end of the second crystal oscillator Y1 is connected through a capacitor C3 Grounded.

Further, the small-area smart mobility wheelchair of the present invention further includes a backup battery for supplying power to the RTC clock after the smart mobility wheelchair is powered off. The anode of the backup battery is connected to the anode of the diode D2, and the diode The cathode of D2 is connected to the pin 6 of the control chip, the cathode of the diode D2 is connected to the cathode of the backup battery through a capacitor C4, and the cathode of the backup battery is grounded.

Further, the small-area smart mobility wheelchair of the present invention further includes a second crystal oscillator Y2 that provides a clock signal for the control system of the smart mobility wheelchair, and the first end of the second crystal oscillator Y2 is connected to the pins of the control chip 24. The second end of the second crystal oscillator Y2 is connected to the pin 23 of the control chip; the first end of the second crystal oscillator Y2 is connected to the second end of the second crystal oscillator Y2 through a resistor R10; The first end of the second crystal oscillator Y2 is grounded through a capacitor C6, and the second end of the second crystal oscillator Y2 is grounded through a capacitor C5.

Further, the small-area smart mobility wheelchair of the present invention further includes a reference voltage circuit that provides a reference voltage for AD sampling of the smart mobility wheelchair, and the reference voltage circuit includes a capacitor C7, a capacitor C8, and a resistor R12;

The first end of the resistor R12 is connected to the pin 33 of the control chip, the second end of the resistor R12 is connected to the 3.3V power supply end of the battery pack, and the pin 30 of the control chip passes through the capacitor C7. The pin 33 of the control chip is connected, the pin 30 of the control chip is connected to the pin 33 of the control chip through the capacitor C8, and the pin 30 of the control chip is grounded.

Further, in the small-area smart wheelchair of the present invention, the lidar is an LS-N30101C radar, the ultrasonic ranging sensor is an HC-SR04 ultrasonic sensor, and the gyroscope is an mpu6050 gyroscope.

Further, in the small-area intelligent traveling wheelchair of the present invention, the comparing the current environmental parameters scanned by the laser radar and the area map to obtain the current approximate position of the intelligent traveling wheelchair includes: the current laser mine scanning The current environmental parameters of the location are processed by the Gmapping Slam algorithm to obtain the current approximate position of the intelligent traveling wheelchair;

The further determining the current precise position of the smart traveling wheelchair by using the ultrasonic distance measuring sensor and the gyroscope includes: calibrating the sensing data of the ultrasonic distance measuring sensor and the gyroscope through Kalman filtering. The current approximate position gets the current precise position;

If the smart traveling wheelchair detects an obstacle in the planned travel path, the control chip adjusts the speed difference between the first driving motor and the second driving motor according to the obstacle position to adjust the smart traveling wheelchair After avoiding obstacles, return to the planned path of travel.

The beneficial effects of the invention

Beneficial effect

A small area intelligent traveling wheelchair implementing the present invention has the following beneficial effects: the intelligent traveling wheelchair of the present invention can learn the environmental parameters of a small area, can automatically identify the path and move automatically in the small area, and greatly reduce the amount of operation for the user. Improve user experience.

Brief description of the drawings

Description of the drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments. In the accompanying drawings:

Fig. 1 is a schematic structural diagram of a small-area smart wheelchair according to an embodiment;

Figure 2 is a schematic structural diagram of a small-area smart wheelchair according to an embodiment;

Fig. 3 is a circuit diagram of a power supply terminal of a battery pack provided by an embodiment;

Fig. 4 is a circuit diagram of a first driving motor provided by an embodiment;

FIG. 5 is a circuit diagram of a second driving motor provided by an embodiment;

FIG. 6 is a circuit diagram of an ultrasonic distance measuring sensor provided by an embodiment;

FIG. 7 is a circuit diagram of a gyroscope provided by an embodiment;

Fig. 8 is a circuit diagram of a first encoder provided by an embodiment;

Fig. 9 is a circuit diagram of a second encoder provided by an embodiment;

FIG. 10 is a circuit diagram of a reset button RESET provided by an embodiment;

FIG. 11 is a circuit diagram of a first crystal oscillator provided by an embodiment;

Fig. 12 is a peripheral circuit diagram of a control chip provided by an embodiment.

The best embodiment for implementing the invention

The best mode of the present invention

In order to have a clearer understanding of the technical features, objectives and effects of the present invention, the specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

Invention embodiment

Example

1 and 2, the small-area smart wheelchair of this embodiment includes a frame 10 and a seat 20. The seat 20 is arranged on the frame 10, and the seat 20 may include a chair body 21 and a backrest 22; Armrests 12 are provided on both sides of the seat 20, and there may be two armrests 12 for the hands of the user sitting on the seat 20 to be placed. The intelligent traveling wheelchair also includes a battery pack, a control chip, a first driving wheel 31, a first driving motor 501, a second driving wheel 32, a second driving motor 502, a lidar 60, an ultrasonic ranging sensor and a gyroscope, as follows: Be explained:

The battery pack provides power for the entire smart walking wheelchair. The battery pack and the circuit board of the smart walking wheelchair are arranged in the box 40 at the rear of the frame 10. The box 40 can also be arranged on the frame 10 below the seat 20. . Referring to Figure 3, the battery pack is connected to the circuit board of the smart walking wheelchair through the P8 interface to supply power to the various electronic devices of the smart walking wheelchair. Among them, pins 1, 2 and 3 of the P8 interface are the VCC5 interface of the battery pack, namely 5V power supply terminal, output 5V power supply voltage; pin 4, pin 5 and pin 6 of P8 interface are the VCC3.3 interface of the battery pack, that is, 3.3V power supply terminal, output 3.3V power supply voltage; pin 7 of P8 interface , Pin 8 and Pin 9 are grounded. Alternatively, the VCC3.3 interface of the positive battery pack of the battery pack power supply indicator power_led, and the negative pole of the power supply indicator power_led is grounded through a resistor R13.

The control chip of this embodiment is the STM32F103ZET6 chip, and the pin distribution and usage instructions of the STM32F103ZET6 chip can refer to the prior art. The control chip of this embodiment can be soldered on a circuit board (not shown in Figures 1 and 2 of the drawings). The algorithm chip in this embodiment is connected to the control chip through serial communication. The algorithm chip is the Samsung 4418 S1818 NF86FA chip, and the Samsung 4418 S1818 NF86FA chip is a quad-core COTEX-A9 CPU. The specific pin distribution and usage instructions can refer to the prior art. The algorithm chip has powerful data processing capabilities, which can meet the data processing requirements for building maps and traveling positioning. Alternatively, the algorithm chip runs the slam algorithm (real-time positioning and mapping algorithm), and the current mainstream open source algorithms such as hector, gmapping, cartographer, etc. can be used. The aforementioned algorithms can refer to the existing technology.

4, the first driving wheel 31 and the first driving motor 501, the first driving motor 501 is connected and driving the first driving wheel 31 to rotate, the first driving motor 501 is respectively connected to the control chip pin 34, pin 40 and lead At pin 41, the first driving motor 501 is connected to the VCC5 power supply terminal of the battery pack, that is, the 5V power supply terminal. The control chip can control the rotation direction and rotation speed of the first driving motor 501, that is, control the rotation direction and rotation speed of the first driving wheel 31.

5, the second driving wheel 32 and the second driving motor 502, the second driving motor 502 is connected and driving the second driving wheel 32 to rotate, and the second driving motor 502 is respectively connected to the pin 80, the pin 81 and the lead of the control chip At pin 82, the second driving motor 502 is connected to the VCC5 power supply terminal of the battery pack, that is, the 5V power supply terminal. The control chip can control the rotation direction and rotation speed of the second driving motor 502, that is, control the rotation direction and rotation speed of the second driving wheel 32. Preferably, the dimensions of the first driving wheel 31 and the second driving wheel 32 in this embodiment are the same.

The free rotation angle range of the first driven wheel 33 and the second driven wheel 34, the first driven wheel 33 and the second driven wheel 34 is 360 degrees, the first driven wheel 33 and the second driven wheel 34 can follow the intelligent travel wheelchair Advance in the direction of travel. The first driving wheel 31 and the second driving wheel 32 are arranged at the rear of the frame 10, and the first driven wheel 33 and the second driven wheel 34 are arranged at the front of the frame 10. Since the first driven wheel 33 and the second driven wheel 34 can rotate freely, the first driven wheel 33 and the second driven wheel 34 will follow the first driving wheel 31 and the second driving wheel 32 to move. When the smart traveling wheelchair is traveling along the execution, the first driven wheel 33 and the second driven wheel 34 will also travel in a straight line; when the smart traveling wheelchair turns, the first driven wheel 33 and the second driven wheel 34 will also follow the turn.

The control chip controls the direction of rotation of the first drive motor 501 and the second drive motor 502 to realize the forward or backward movement of the intelligent traveling wheelchair, and controls the traveling direction of the intelligent traveling wheelchair by controlling the rotation speed of the first drive motor 501 and the second drive motor 502 . If the rotation speeds of the first driving motor 501 and the second driving motor 502 are the same, the smart traveling wheelchair moves forward or backward in a straight line; if the rotation speeds of the first driving motor 501 and the second driving motor 502 are different, the smart traveling wheelchair turns. When the intelligent traveling wheelchair is traveling forward, if the rotation speed of the first driving motor 501 is less than the rotation speed of the second driving motor 502, the intelligent traveling wheelchair turns to the side of the first driving wheel 31; if the rotation speed of the first driving motor 501 is greater than that of the second driving motor 502 With the rotation speed of the driving motor 502, the intelligent traveling wheelchair turns to the side of the second driving wheel 32. When the intelligent traveling wheelchair moves backward, if the rotation speed of the first driving motor 501 is less than the rotation speed of the second driving motor 502, the intelligent traveling wheelchair will turn to the side of the first driving wheel 31; if the rotation speed of the first driving motor 501 is greater than that of the second driving motor 502 With the rotation speed of the driving motor 502, the intelligent traveling wheelchair turns to the side of the second driving wheel 32.

The lidar 60 is arranged at the front end of the frame 10, the lidar 60 is connected to the input end of the algorithm chip, the output end of the algorithm chip is connected to the pins 101 and 102 of the control chip, and the lidar 60 is connected to the battery pack. The lidar 60 is used to scan a small area to obtain an area map of the small area. The scanning surface of the lidar 60 is 360 degrees, that is, it can scan the environmental parameters around the intelligent traveling wheelchair, and the scanned data is stored in the memory, and these environmental parameters Know the environmental parameters around the road in a small area. The environmental parameter is the distance information of buildings and road conditions in a small area of the lidar 60, and the algorithm chip processes the environmental parameters according to a preset algorithm to obtain an area map of the small area. Alternatively, the lidar 60 can be installed on a bracket 13 provided at the front end of the frame 10, and the bracket 13 can be detachably connected to the frame 10 or welded to the frame 10. Alternatively, the lidar 60 in this embodiment is an LS-N30101C radar. In the working process, the collected data of the lidar 60 is sent to the algorithm chip, and the processing result is sent to the control chip after being processed by the algorithm chip; alternatively, the algorithm chip can jointly process the collected data of the lidar 60 and other data, and Send the processing result to the control chip.

6, the ultrasonic ranging sensor is arranged at the front end of the frame 10, the ultrasonic ranging sensor is connected to the pin 35 and the pin 141 of the control chip, and the ultrasonic ranging sensor is connected to the VCC5 power supply terminal of the battery pack, that is, the 5V power supply terminal. Alternatively, the ultrasonic ranging sensor (not shown in Figures 1 and 2) can be installed on a bracket 13 provided at the front end of the frame 10. The bracket 13 can be detachably connected to the frame 10 or welded to the frame 10. on. Alternatively, the ultrasonic ranging sensor in this embodiment is an HC-SR04 ultrasonic sensor. In the working process, the control chip sends the collected data of the ultrasonic ranging sensor to the algorithm chip, and the processing result is returned to the control chip after being processed by the algorithm chip.

Referring to FIG. 7, in this embodiment, the gyroscope is connected to the pins 69 and 70 of the control chip, and the gyroscope is connected to the 3.3V power supply terminal of the battery pack. In this embodiment, a gyroscope can also be used to determine whether the intelligent traveling wheelchair is in an uphill state or a downhill state, and transmit the status information to the control chip, and the control chip adjusts the output power of the first driving motor 501 and the second driving motor 502 according to the status information . Alternatively, the gyroscope in this embodiment is an mpu6050 gyroscope. In the working process, the control chip sends the collected data of the gyroscope to the algorithm chip, and the processing result is returned to the control chip after being processed by the algorithm chip; alternatively, the algorithm chip can jointly process the collected data of the gyroscope and other data, and Send the processing result to the control chip.

In summary, in the working process, if multiple sensors are required to work together at the same time, the control chip sends the collected data of the gyroscope, ultrasonic ranging sensor, first encoder, and second encoder to the algorithm chip, and the algorithm chip processes it. The processing result is returned to the control chip. Further, in the working process, if multiple sensors are required to work together at the same time, the control chip sends the collected data of the gyroscope, ultrasonic ranging sensor, first encoder and second encoder to the algorithm chip, and the lidar 60 is collected at the same time. The data is sent to the algorithm chip, and the processing result is returned to the control chip after being processed by the algorithm chip.

Before using the intelligent traveling wheelchair, it is necessary to turn on the lidar 60, travel once on all roads in a small area, scan the environmental parameters around the road, and process the environmental parameters around the road to obtain and store the area map of the small area. The intelligent traveling wheelchair of this embodiment can store area maps of multiple small areas at the same time, such as community area maps, park area areas, hospital area maps, etc. After entering a small area, the intelligent traveling wheelchair automatically recognizes the environment and calls it through the lidar 60 Corresponding area map. It can be understood that if the user finds that a road or building in a small area has changed, the lidar 60 needs to be turned on again to scan the small area to obtain a new area map. After obtaining the area map, the control chip automatically plans the travel path according to the received destination, that is, the travel path is planned on the area map according to the current position and the destination location, and the current position is automatically determined by scanning the surrounding environment parameters with the lidar 60, that is, the lidar 60 The current location is determined by comparing the scanned surrounding environmental parameters with the environmental parameters in the area map. During the process of automatic travel of the intelligent traveling wheelchair according to the traveling path, compare the current environmental parameters scanned by the lidar 60 and the area map to obtain the current approximate position of the intelligent traveling wheelchair, and then use the ultrasonic ranging sensor and gyroscope to further determine the current precise position of the intelligent traveling wheelchair The control chip drives the first driving motor 501 and the second driving motor 502 to rotate according to the planned path and the current precise position, and then drives the first driving wheel 31 and the second driving wheel 32 to travel according to the planned travel path until reaching the destination.

Further, comparing the current environmental parameters scanned by the lidar 60 with the area map in the small-area intelligent traveling wheelchair of this embodiment to obtain the current approximate position of the intelligent traveling wheelchair includes: the current environmental parameters of the current position scanned by the laser mine, processed by the Gmapping Slam algorithm The current environment parameters and the area map obtain the current approximate position of the intelligent traveling wheelchair, and the Gmapping Slam algorithm can refer to the existing technology. The use of ultrasonic ranging sensors and gyroscopes to further determine the current precise position of the smart walking wheelchair includes: the sensing data of the ultrasonic ranging sensors and gyroscopes are calibrated to obtain the current precise position after Kalman filtering. The Kalman filtering can be used as a reference current technology.

The intelligent traveling wheelchair of this embodiment also includes a braking module for stopping the traveling of the intelligent traveling wheelchair. The braking module only needs to brake the first driving wheel 31 and the second driving wheel 32. The braking module can refer to the existing technology.

In summary, the control chip sends the collected data of the gyroscope, ultrasonic ranging sensor, the first encoder and the second encoder to the algorithm chip. At the same time, the environmental parameters of the lidar 60 are sent to the algorithm chip, and the algorithm chip processes the environmental parameters to obtain the current The map information is further combined with the collected data of the gyroscope, the ultrasonic ranging sensor, the first encoder and the second encoder to calculate the wheelchair speed, steering information, etc., and then sent to the control chip through the serial port. The control chip analyzes the rotation speeds of the first driving motor 501 and the second driving motor 502, and then controls the forward direction and speed of the wheelchair. The intelligent traveling wheelchair of this embodiment can learn environmental parameters in a small area, and can automatically recognize a path and move automatically in a small area, which greatly reduces the amount of operation of the user and improves the user experience.

Example

Referring to Figures 8 and 9, on the basis of the previous embodiment, the small-area smart wheelchair of this embodiment also includes a first encoder and a second encoder (not shown in Figures 1 and 2), refer to the figure 8. The first encoder is a DRT38-SOM1024-RT1 encoder; referring to Figure 9, the second encoder is a DRT38-SOM1024-RT1 encoder. The first encoder is coaxially installed with the first driving wheel 31 to detect the rotation speed of the first driving wheel 31; the first encoder is connected to the 136, pin 137 and pin 140 of the control chip, and the first encoder is connected to the battery pack The VCC5 power supply terminal, that is, the 5V power supply terminal. The second encoder is coaxially installed with the second driving wheel 32 for detecting the rotation speed of the second driving wheel 32. The second encoder is connected to the 50, pin 53 and pin 54 of the control chip, and the second encoder is connected to the VCC5 power supply terminal of the battery pack, that is, the 5V power supply terminal. In the working process, the control chip sends the collected data of the first encoder and the second encoder to the algorithm chip, and the processing result is returned to the control chip after being processed by the algorithm chip; alternatively, the algorithm chip connects the first encoder and the second encoder to the algorithm chip. The collected data of the two encoders and other data are jointly processed, and the processing results are sent to the control chip.

In this embodiment, the first encoder sends the collected rotation speed of the first driving wheel 31 to the control chip, and the second encoder sends the collected rotation speed of the second driving wheel 32 to the control chip. The rotational speed collected by the second encoder obtains the distance traveled by the first driving wheel 31 and the second driving wheel 32 to control the travel route.

Example

On the basis of the above-mentioned embodiment, the small-area smart mobility wheelchair of this embodiment also includes a receiving module for receiving the destination input by the user. The receiving module is connected to the input terminal of the algorithm chip, and the output terminal of the algorithm chip is connected to the lead of the control chip. Pin 101 and pin 102. Alternatively, the receiving module can choose a keyboard, touch screen, microphone, etc., or it can be connected to a smart phone, and the destination can be input through the smart phone. The user can store frequently used destinations in the smart traveling wheelchair in advance, and directly select it when using it; this embodiment saves the destination entered by the user to facilitate the user's selection.

Example

10, on the basis of the foregoing embodiment, the small-area smart mobility wheelchair of this embodiment further includes a reset button RESET for resetting the control system of the smart mobility wheelchair, and the first end of the reset button RESET is connected to the battery pack through a resistor R5 The first end of the reset button RESET is connected to the pin 25 of the control chip, the first end of the reset button RESET is connected to the second end of the reset button RESET through the capacitor C1, and the second end of the reset button RESET is grounded.

Example

11, on the basis of the foregoing embodiment, the small-area smart mobility wheelchair of this embodiment further includes a first crystal oscillator Y1 that provides a clock signal for the RTC clock of the smart mobility wheelchair, and the first end of the first crystal oscillator Y1 is connected to the control chip The second end of the first crystal oscillator Y1 is connected to the pin 9 of the control chip; the first end of the first crystal oscillator Y1 is grounded through the capacitor C2, and the second end of the second crystal oscillator Y1 is grounded through the capacitor C3.

Referring to Figure 12, the small-area smart mobility wheelchair of this embodiment also includes a backup battery for powering the RTC clock after the smart mobility wheelchair is powered off. The positive pole of the backup battery is connected to the positive pole of the diode D2, and the negative pole of the diode D2 is connected to the control chip. Pin 6, the cathode of the diode D2 is connected to the cathode of the backup battery through the capacitor C4, and the cathode of the backup battery is grounded.

Example

12, on the basis of the foregoing embodiment, the small-area smart mobility wheelchair of this embodiment further includes a second crystal oscillator Y2 that provides a clock signal for the control system of the smart mobility wheelchair, and the first end of the second crystal oscillator Y2 is connected to the control chip The second end of the second crystal oscillator Y2 is connected to the pin 23 of the control chip; the first end of the second crystal oscillator Y2 is connected to the second end of the second crystal oscillator Y2 through the resistor R10; the first end of the second crystal oscillator Y2 The capacitor C6 is grounded, and the second end of the second crystal oscillator Y2 is grounded through the capacitor C5.

Example

12, on the basis of the foregoing embodiment, the small-area smart mobility wheelchair of this embodiment further includes a reference voltage circuit that provides a reference voltage for AD sampling of the smart mobility wheelchair. The reference voltage circuit includes a capacitor C7, a capacitor C8, and a resistor R12. , The first end of the resistor R12 is connected to the pin 33 of the control chip, the second end of the resistor R12 is connected to the 3.3V power supply terminal of the battery pack, the pin 30 of the control chip is connected to the pin 33 of the control chip through the capacitor C7, and the control chip The pin 30 is connected to the pin 33 of the control chip through the capacitor C8, and the pin 30 of the control chip is grounded.

Example

On the basis of the foregoing embodiment, the intelligent traveling wheelchair of this embodiment can recognize temporary obstacles that appear on the traveling path and perform obstacle avoidance. The intelligent traveling wheelchair can identify obstacles through the lidar 60, that is, the lidar 60 compares the current environmental parameters with the environmental parameters in the area map, and the position of the obstacle can be determined by the difference parameters; or the intelligent traveling wheelchair can use ultrasonic ranging The sensor finds obstacles on the normal course, because the route planned according to the area map should not have obstacles, if there is an obstacle, it means that the obstacle is found; or the laser radar 60 and the ultrasonic ranging sensor are used to find the obstacle at the same time.

If the intelligent traveling wheelchair detects an obstacle in the planned travel path, the control chip adjusts the rotation speed difference of the first driving motor 501 and the second driving motor 502 according to the obstacle position to adjust the heading of the intelligent traveling wheelchair, after avoiding the obstacle Return to the planned path of travel. When the intelligent traveling wheelchair travels forward, if the rotation speed of the first driving motor 501 is less than the rotation speed of the second driving motor 502, the intelligent traveling wheelchair turns to the side of the first driving wheel 31; if the rotation speed of the first driving motor 501 is greater than that of the second driving motor 502 With the rotation speed of the driving motor 502, the intelligent traveling wheelchair turns to the side of the second driving wheel 32. When the intelligent traveling wheelchair travels backward, if the rotation speed of the first driving motor 501 is less than the rotation speed of the second driving motor 502, the intelligent traveling wheelchair will turn to the side of the first driving wheel 31; if the rotation speed of the first driving motor 501 is greater than the second driving motor 502, With the rotation speed of the driving motor 502, the intelligent traveling wheelchair turns to the side of the second driving wheel 32.

The intelligent traveling wheelchair of this embodiment can learn the environmental parameters of a small area, can automatically identify a path and move automatically in a small area, and can automatically avoid obstacles when encountering obstacles, greatly reducing the amount of user operations and improving user experience.

The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

Professionals may further realize that the units and algorithm steps of the examples described in the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of both, in order to clearly illustrate the possibilities of hardware and software. Interchangeability, in the above description, the composition and steps of each example have been generally described in accordance with the function. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered as going beyond the scope of the present invention.

The steps of the method or algorithm described in combination with the embodiments disclosed herein can be directly implemented by hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or all areas in the technical field. Any other known storage media.

The above embodiments are only to illustrate the technical concept and features of the present invention, and their purpose is to enable those familiar with the technology to understand the content of the present invention and implement them accordingly, and do not limit the protection scope of the present invention. All equivalent changes and modifications made to the scope of the claims of the present invention shall fall within the scope of the claims of the present invention.

Claims

A small-area intelligent traveling wheelchair includes a frame (10) and a seat (20), the seat (20) is arranged on the frame (10), and is characterized in that the intelligent traveling wheelchair further includes:

The battery pack provides power for the entire intelligent traveling wheelchair;

A control chip, the control chip is an STM32F103ZET6 chip;

An algorithm chip, the algorithm chip is connected to the control chip through serial communication, and the algorithm chip is a Samsung 4418 S1818 NF86FA chip;

The first driving wheel (31) and the first driving motor (501), the first driving motor (501) is connected and driving the first driving wheel (31) to rotate, and the first driving motor (501) is connected respectively Pin 34, pin 40, and pin 41 of the control chip;

The second driving wheel (32) and the second driving motor (502), the second driving motor (502) is connected and driving the second driving wheel (32) to rotate, and the second driving motor (502) is respectively connected Pin 80, pin 81, and pin 82 of the control chip;

The first driven wheel (33) and the second driven wheel (34), the free rotation angle range of the first driven wheel (33) and the second driven wheel (34) is 360 degrees; the first driving wheel (31) and the second driving wheel (32) are arranged behind the frame (10), and the first driven wheel (33) and the second driven wheel (34) are arranged on the frame ( 10) Front;

The lidar (60) is arranged at the front end of the frame (10), the lidar (60) is connected to the input end of the algorithm chip, and the output end of the algorithm chip is connected to the pins 101 and the control chip Pin 102, the lidar (60) is used to scan a small area to obtain an area map of the small area;

An ultrasonic ranging sensor is arranged at the front end of the frame (10), and the ultrasonic ranging sensor is connected to the pin 35 and the pin 141 of the control chip;

A gyroscope, the gyroscope is connected to the pin 69 and the pin 70 of the control chip;

Before using the intelligent traveling wheelchair, the lidar (60) needs to be turned on, travel once on all roads in the small area, scan the environmental parameters around the road, and process the environmental parameters around the road to obtain and store the area map of the small area After obtaining the area map, the control chip automatically plans the travel path according to the received destination; during the automatic travel of the intelligent traveling wheelchair according to the travel path, the current environmental parameters scanned by the lidar (60) are compared with all The area map is used to obtain the current approximate position of the intelligent traveling wheelchair, and then the ultrasonic ranging sensor and the gyroscope are used to further determine the current precise position of the intelligent traveling wheelchair; the control chip is based on the planned path and the current precise position Driving the first driving motor (501) and the second driving motor (502) to rotate, thereby driving the first driving wheel (31) and the second driving wheel (32) to travel according to the planned travel path, Until reaching the destination.
The small-area smart wheelchair according to claim 1, further comprising a first encoder and a second encoder; the first encoder is a DRT38-SOM1024-RT1 encoder, and the second encoder DRT38-SOM1024-RT1 encoder;

The first encoder is coaxially installed with the first driving wheel (31), and is used to detect the rotation speed of the first driving wheel (31); the first encoder is connected to the control chip 136, guide Pin 137 and pin 140;

The second encoder is coaxially installed with the second driving wheel (32), and is used to detect the rotation speed of the second driving wheel (32); the second encoder is connected to the 50 and the lead of the control chip Pin 53 and pin 54.
The small-area intelligent traveling wheelchair according to claim 1, further comprising a receiving module for receiving a destination input by a user, and the receiving module is connected to the input terminal of the algorithm chip.
The small-area smart walking wheelchair according to claim 1, further comprising a reset button RESET for resetting the control system of the smart walking wheelchair, and the first end of the reset button RESET is connected to the The 3.3V power supply terminal of the battery pack; the first terminal of the reset button RESET is connected to the pin 25 of the control chip, the first terminal of the reset button RESET is connected to the second terminal of the reset button RESET through a capacitor C1, The second end of the reset button RESET is grounded.
The small-area intelligent traveling wheelchair according to claim 1, further comprising a first crystal oscillator Y1 that provides a clock signal for the RTC clock of the intelligent traveling wheelchair, and a first end of the first crystal oscillator Y1 is connected to the Pin 8 of the control chip, the second end of the first crystal oscillator Y1 is connected to the pin 9 of the control chip; the first end of the first crystal oscillator Y1 is grounded through the capacitor C2, and the second end of the second crystal oscillator Y1 is grounded. The two ends are grounded through the capacitor C3.
The small-area smart mobility wheelchair according to claim 5, further comprising a backup battery for supplying power to the RTC clock after the smart mobility wheelchair is powered off, and the anode of the backup battery is connected to the diode D2 Anode, the cathode of the diode D2 is connected to the pin 6 of the control chip, the cathode of the diode D2 is connected to the cathode of the backup battery through a capacitor C4, and the cathode of the backup battery is grounded.
The small-area intelligent traveling wheelchair according to claim 1, further comprising a second crystal oscillator Y2 that provides a clock signal for the control system of the intelligent traveling wheelchair, and a first end of the second crystal oscillator Y2 is connected to the Pin 24 of the control chip, the second end of the second crystal oscillator Y2 is connected to the pin 23 of the control chip; the first end of the second crystal oscillator Y2 is connected to the second end of the second crystal oscillator Y2 through a resistor R10 The first end of the second crystal oscillator Y2 is grounded through a capacitor C6, and the second end of the second crystal oscillator Y2 is grounded through a capacitor C5.
The small-area smart walking wheelchair according to claim 1, further comprising a reference voltage circuit for providing a reference voltage for AD sampling of the smart walking wheelchair, and the reference voltage circuit includes a capacitor C7, a capacitor C8, and a resistor R12 ；

The first end of the resistor R12 is connected to the pin 33 of the control chip, the second end of the resistor R12 is connected to the 3.3V power supply end of the battery pack, and the pin 30 of the control chip passes through the capacitor C7. The pin 33 of the control chip is connected, the pin 30 of the control chip is connected to the pin 33 of the control chip through the capacitor C8, and the pin 30 of the control chip is grounded.
The small area intelligent traveling wheelchair according to claim 1, wherein the lidar (60) is an LS-N30101C radar, the ultrasonic ranging sensor is an HC-SR04 ultrasonic sensor, and the gyroscope is an mpu6050 gyroscope instrument.
The small-area intelligent traveling wheelchair according to claim 1, wherein the comparing the current environmental parameters scanned by the lidar (60) with the area map to obtain the current approximate position of the intelligent traveling wheelchair includes: The current environmental parameters of the current position are scanned by the laser mine, and the current environmental parameters and the regional map are processed by the Gmapping Slam algorithm to obtain the current approximate position of the intelligent traveling wheelchair;

The further determining the current precise position of the smart traveling wheelchair by using the ultrasonic distance measuring sensor and the gyroscope includes: calibrating the sensing data of the ultrasonic distance measuring sensor and the gyroscope through Kalman filtering. The current approximate position gets the current precise position;

If the intelligent traveling wheelchair detects an obstacle in the planned traveling path, the control chip adjusts the rotation speed difference of the first driving motor (501) and the second driving motor (502) according to the position of the obstacle. Adjust the heading of the intelligent traveling wheelchair, and return to the planned traveling path after avoiding obstacles.