阅读说明：本技术 一种智能安全避障轮椅 (Intelligent safety keeps away barrier wheelchair ) 是由 周碧颖 金尚忠 王霖 于 2019-03-27 设计创作，主要内容包括：本发明公开了一种智能安全避障轮椅,包括触控板操控、跟随及自动导航三种选择模式和自动避障及轮椅控制两个功能模块。触控板操控即用户通过在触控板上手指滑动发出控制意图,跟随模式由激光测距传感器组成,自动导航由触摸显示屏,GPS导航仪组成,自动避障模块包括内部传感器、内部传感器,轮椅控制模块包括碰撞检测器、控制模块、驱动电机和驱动后轮。该智能安全轮椅能够通过自动导航以及跟随模式实现全自动化运行,当受到障碍冲击时会采取一系列紧急措施,可以无需手动操作且安全性高,特别适合老年人以及残障人士使用。(The invention discloses an intelligent safe obstacle avoidance wheelchair which comprises three selection modes of touchpad control, following and automatic navigation and two functional modules of automatic obstacle avoidance and wheelchair control. The touch control panel is controlled, namely a user sends out control intention through finger sliding on the touch control panel, the following mode is composed of a laser ranging sensor, automatic navigation is composed of a touch display screen and a GPS navigator, the automatic obstacle avoidance module comprises an internal sensor and an internal sensor, and the wheelchair control module comprises a collision detector, a control module, a driving motor and a driving rear wheel. This intelligent security wheelchair can realize full automatization operation through automatic navigation and follow mode, can take a series of emergency measures when receiving the obstacle and assault, can need not manual operation and security height, is particularly suitable for old person and the personage of physical disability to use.)

1. The utility model provides an intelligent security keeps away barrier wheelchair which characterized in that, intelligent security keeps away barrier wheelchair includes back 1, handrail 2, touch-control board 3, touch display 4, external sensor 5, collision detector 6, GPS navigator 7, running-board 8, laser rangefinder sensor 9, follow-up front wheel 10, internal sensor 11, control module 12, driving motor 13, battery 14, drive rear wheel 15.

2. The intelligent safe obstacle avoidance wheelchair as claimed in claim 1, having three control modes, wherein the first mode is automatic navigation, the user uses handwriting or voice input of the touch display screen to reach the destination, the navigation host computer obtains the current point position determined by calculation from the GPS receiver to automatically calculate a most suitable recommended route, and then uses the angular velocity meter data to complete the correction of the GPS data, so as to realize the automatic driving of the wheelchair. And the second mode is partner tracking, a partner tracking system is used for tracking the body position of the leader, the footprint of the leader is estimated by data association, a target path is generated for the wheelchair according to the position data of the footprint, and the target path is sent to the control system. And the third mode is the operation of the touch pad, and the control system obtains the position and direction information of the touch pad through calculation and analyzes the position and direction information to obtain the control intention of the user. Further, the wheelchair control system detects surrounding environment information through the obstacle avoidance module, and adjusts a control signal of the motor when an obstacle exists, so that the safety of a user is guaranteed; then, the collision detector detects the wheelchair in real time, and when the impact force is greater than a certain value, the motor stops.

3. The intelligent safe obstacle avoidance wheelchair as claimed in claim 1, wherein: the output equipment of the automatic navigation system comprises a display screen and voice output equipment, the main display contents comprise a map with variable scale, the current position of a vehicle, a recommended route and the like, and the information such as the name, the geographical position and the like of a public service unit such as a nearby hospital and the like can be displayed according to the setting of a user, so that the user can conveniently need the information. Meanwhile, the GPS measurement is fused with the wheel ranging information through an Extended Kalman Filter (EKF) design. By using the distance measurement enhanced fusion technology, high-precision positioning can be realized even in a GPS rejection environment.

4. The intelligent safe obstacle avoidance wheelchair as claimed in claim 1, wherein: the touch pad can enable a user to move fingers in all directions, the Hall element is used for converting the position information of the touch pad into voltage information, the AD converter is used for converting the voltage information of the Hall element into digital quantity, and the control intention of the user is obtained through the position information of the touch pad.

5. The intelligent safe obstacle avoidance wheelchair as claimed in claim 1, wherein: and the companion tracking system consists of a laser ranging sensor based on a Kalman filter.

6. The intelligent safe obstacle avoidance wheelchair as claimed in claim 1, wherein: information from an internal sensor is fused with a plurality of external sensors for the obstacle avoidance module to locate an obstacle.

Technical Field

The invention belongs to the technical field of wheelchairs, relates to an intelligent safe obstacle avoidance wheelchair, and further relates to a multi-mode wheelchair control technology.

Background

The aging of population is an objective rule without the will of people as the transition, and is a necessary trend for the reproduction of human population. Data show that as long as 2014, the total number of aged people of 60 years and above in China reaches 2.12 hundred million people, the percentage of the aged people in the whole population reaches 15.5%, and China has become the country with the largest total number of aged people in the world. By the end of 2014, the number of old people over 80 years old in China reaches 2400 tens of thousands, and the number of disabled and semi-disabled old people is nearly 4000 thousands. With the development and progress of social civilization in China, the living quality of vulnerable groups such as the old, disabled and the like is guaranteed and improved, and the problem of difficult traveling becomes the focus of people, which is more and more generally concerned by people in all communities.

Therefore, the wheelchair capable of providing convenience for the vulnerable groups can be produced and widely popularized and applied. Older wheelchairs were manual, which required physical exertion and were not suitable for use by those with weak physical exertion and disabilities. The electric wheelchair is invented subsequently, the physical defects of the wheelchair are overcome, however, in the aspects of reaction speed and thinking ability, the vulnerable groups are generally lower than normal people, and are often difficult to react in time when encountering obstacles, and the auxiliary obstacle avoidance function is needed to protect safety. Meanwhile, due to the fact that some accidents may happen when the wheelchair is operated, the intelligent safety wheelchair is required to be capable of recognizing self obstacle impact, timely finding out abnormality and taking protective measures. Moreover, the intelligent safety wheelchair on the market cannot give consideration to disabled people who cannot control the wheelchair, so that the disabled people can freely go out. Therefore, in view of the current situation, there is an urgent need to develop a novel intelligent safe obstacle avoidance wheelchair, which can basically depend on the operation and control of machine technology to meet the needs of practical use.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides an intelligent safe obstacle avoidance wheelchair, which aims to meet the actual use requirements of most of the disadvantaged groups and has the advantages of safety, reliability and automation.

In order to solve the problems, the invention adopts the following technical scheme:

the utility model provides an intelligent security keeps away barrier wheelchair which characterized in that, intelligent security keeps away barrier wheelchair includes back 1, handrail 2, touch-control board 3, touch display 4, external sensor 5, collision detector 6, GPS navigator 7, running-board 8, laser rangefinder sensor 9, follow-up front wheel 10, internal sensor 11, control module 12, driving motor 13, battery 14, drive rear wheel 15. The intelligent safe obstacle avoidance wheelchair has three control modes, wherein the first mode is automatic navigation, a user can reach a destination by handwriting or voice input of a touch display screen, a navigation host computer obtains a current point position determined by calculation from a GPS receiver and automatically calculates a most appropriate recommended route, and then the correction of GPS data is completed by using angular velocity meter data, so that the automatic driving of the wheelchair is realized. And the second mode is partner tracking, a partner tracking system is used for tracking the body position of the leader, the footprint of the leader is estimated by data association, a target path is generated for the wheelchair according to the position data of the footprint, and the target path is sent to the control system. And the third mode is the operation of the touch pad, and the control system obtains the position and direction information of the touch pad through calculation and analyzes the position and direction information to obtain the control intention of the user. Further, the wheelchair control system detects surrounding environment information through the obstacle avoidance module, and adjusts a control signal of the motor when an obstacle exists, so that the safety of a user is guaranteed; then, the collision detector detects the wheelchair in real time, and when the impact force is greater than a certain value, the motor stops.

The technical scheme has the following beneficial effects:

the intelligent safety obstacle avoidance wheelchair essentially integrates key technologies in the field of multiple robots, including robot vision, path planning, positioning, navigation and the like, and can accommodate people of all disability types by combining a multi-mode interface of computer vision, touch, voice and brain control.

2, the local information from the GPS, the collected airborne data and the Bluetooth beacon data which fills the public space are helpful for guiding the intelligent safety obstacle avoidance wheelchair to reach a specific destination, so that the reliability of the intelligent safety obstacle avoidance wheelchair is reflected.

3 the intelligent safety wheelchair designed by the invention can detect the impact information of the wheelchair in real time and take measures to respond, thus embodying the safety performance.

Drawings

The invention is further described with reference to the following drawings and detailed description.

FIG. 1 is a schematic view of the overall appearance of an intelligent safety obstacle-avoiding wheelchair

FIG. 2 is a flow chart of the intelligent safety obstacle-avoiding wheelchair

Detailed Description

The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention.

As shown in fig. 1, 1 is a backrest, 2 is a handrail, 3 is a touch pad, 4 is a touch display screen, 5 is an external sensor, 6 is a collision detector, 7 is a GPS navigator, 8 is a foot pedal, 9 is a laser ranging sensor, 10 is a follow-up front wheel, 11 is an internal sensor, 12 is a control module, 13 is a driving motor, 14 is a storage battery, and 15 is a driving rear wheel. The output equipment of the automatic navigation system comprises a display screen and voice output equipment, the main display contents comprise a map with variable scale, the current position of a vehicle, a recommended route and the like, and the information such as the name, the geographical position and the like of a public service unit such as a nearby hospital and the like can be displayed according to the setting of a user, so that the user can conveniently need the information. Meanwhile, the GPS measurement is fused with the wheel ranging information through an Extended Kalman Filter (EKF) design. The method for generating the GPS positioning error is various, mostly random error, zero mean white noise cannot be used in a task, a Kalman filter algorithm cannot be directly used, the GPS positioning error is equivalent to a periodic disturbance component containing amplitude and phase and making random jump except for a random component, the extended Kalman filter algorithm takes the parameters of the amplitude, the phase, the frequency and the like of the unknown periodic disturbance component as a part of an extended state variable, real-time estimation is carried out on the position parameters, and the measurement values of sensors are fused, so that the optimal estimation of an accurate position is realized. By using the distance measurement enhanced fusion technology, high-precision positioning can be realized even in a GPS rejection environment. The distance measurement enhanced fusion technology comprises the steps that a GPS receiver receives position signals sent by satellites to obtain a GPS-84 coordinate, the GPS-84 coordinate is represented by latitude, longitude and altitude, meanwhile, the coordinate system is converted into a Cartesian coordinate system, and a discrete kinematics model of the wheelchair at the moment k +1 is represented according to two-dimensional position (x, y) coordinates and a direction angle phi of the wheelchair at the moment k

Φ_k+1＝Φ_k+ΔΦ_k

If Δ D_kLAnd Δ D_kRRespectively represents the travel distance of the left wheel and the right wheel of the wheelchair, the travel distance of the middle position of the two wheels can be represented as

The change in the angle of orientation can be expressed as:

since GPS signals are occasionally blocked, the fusion of the two signals is based on comparing the difference d between the current estimated position and the position obtained from the GPS signals. We define:

defining U as a fusion coefficient

U＝exp(K°d)

K is an adjustable parameter which determines the sensitivity to the difference d.

Once U is obtained, the fusion formula of the GPS signal and the ranging method is:

wherein x0 and y0 are relative position values obtained by a distance measuring method.

The touch pad can enable a user to move fingers in all directions, the Hall element is used for converting the position information of the touch pad into voltage information, the AD converter is used for converting the voltage information of the Hall element into digital quantity, and the control intention of the user is obtained through the position information of the touch pad. And the companion tracking system consists of a laser ranging sensor based on a Kalman filter. For the obstacle avoidance module, information from an internal sensor is fused with a plurality of external sensors to position an obstacle, the internal sensor is an Inertial Measurement Unit (IMU) and is used for measuring the angular rate and the acceleration of the wheelchair, and the external sensors are vision sensors and acquire road condition images in front of the wheelchair.

Referring to fig. 2, there are three control modes, one is automatic navigation, the user uses handwriting or voice input of the touch display screen to reach the destination, the navigation host computer obtains the current point position determined by calculation from the GPS receiver to automatically calculate a most suitable recommended route, and then uses the angular velocity meter data to complete the correction of the GPS data, so as to realize the automatic driving of the wheelchair. And the second mode is partner tracking, a partner tracking system is used for tracking the body position of the leader, the footprint of the leader is estimated by data association, a target path is generated for the wheelchair according to the position data of the footprint, and the target path is sent to the control system. And the third mode is the operation of the touch pad, and the control system obtains the position and direction information of the touch pad through calculation and analyzes the position and direction information to obtain the control intention of the user. Further, the wheelchair control system detects surrounding environment information through the obstacle avoidance module, and adjusts a control signal of the motor when an obstacle exists, so that the safety of a user is guaranteed; then, the collision detector detects the wheelchair in real time, and when the impact force is greater than a certain value, the motor stops.