CN104000694A - Electrically powered wheelchair auxiliary driving system and method - Google Patents
Electrically powered wheelchair auxiliary driving system and method Download PDFInfo
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- CN104000694A CN104000694A CN201410228199.3A CN201410228199A CN104000694A CN 104000694 A CN104000694 A CN 104000694A CN 201410228199 A CN201410228199 A CN 201410228199A CN 104000694 A CN104000694 A CN 104000694A
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Abstract
The invention discloses an electrically powered wheelchair auxiliary driving system and method which is mainly composed of an electrically powered wheelchair with an operating lever, ultrasonic ranging sensors and a controller. The ultrasonic sensors are connected with the controller. The controller adopts a grouping ignition strategy to control the ultrasonic sensors and collecting data of the ultrasonic sensors. When a user operates the operating lever to control movement of a wheelchair, the controller calculates a control command of safety running of the wheelchair to control the wheelchair to move safely. All the ultrasonic sensors in the front are grouped, the ultrasonic sensors in each group are not adjacent and are ignited to start simultaneously, and certain time interval is set between igniting of two groups to avoid interference between the two continuous groups of sensors. The system and method can detect the surrounding environment of the wheelchair in all directions. When obstacles appear in the environment or possible collision happens, the wheelchair can avoid the obstacles initiatively, and the safe feasible running direction can be provided for a user.
Description
Technical field
The present invention relates to a kind of electric wheelchair, particularly a kind of intelligent electric wheelchair DAS (Driver Assistant System) and method based on ultrasonic sensor.
Background technology
At present, known electric wheelchair can only carry out open loop control, and user controls the motion all around of wheelchair by rocking bar or other interactive devices.But for moving difficulty, the patient of the limited or hand of control ability shake, has very large difficulty for the control of electric wheelchair.Existing electric wheelchair not yet considers to relate to the situations such as collision of hiding obstacle and avoiding there will be in structural design, control mode.
Summary of the invention
For the technical problem existing in above-mentioned prior art, the invention provides a kind of electric wheelchair drive assist system and method based on ultrasonic sensor, this system and method can omnibearing detection wheelchair surrounding enviroment, when occurring barrier or possible collision occurring in environment, initiatively avoiding barrier is also for user calculates safe, feasible travel direction.
For achieving the above object, the technical solution adopted in the present invention is as follows:
A kind of electric wheelchair DAS (Driver Assistant System), mainly by the electric wheelchair with stick, ultrasonic sensor and controller, formed, some ultrasonic sensors are installed on wheelchair, ultrasonic sensor is connected with controller, controller is controlled ultrasonic sensor and is gathered Ultrasonic Sensor Data, when user's manipulation bar is controlled wheel chair sport, controller calculates the control instruction of wheelchair safety traffic, controls wheelchair safety movement.
Described ultrasonic sensor comprises and is evenly distributed in position, wheelchair the place ahead to dead ahead and some ultrasonic sensors that right and left is surveyed, is arranged on position, the wheelchair the place ahead ultrasonic sensor that below is surveyed forward, is arranged on the ultrasonic sensor that position, wheelchair rear is surveyed to dead astern.
Also comprise a sensor interface plate, by sensor interface plate, the control of all ultrasonic sensors and data circuit are integrated in bus, and ultrasonic sensor communicates by form and the controller of bus, for controller, controls sensor, pick-up transducers data.
An electric wheelchair auxiliary driving method, adopts above-mentioned system to complete, and described controller adopts the policy control ultrasonic sensor of grouping igniting and gathers Ultrasonic Sensor Data, and the strategy of described grouping igniting is as follows:
All ultrasonic sensors at position, the place ahead are divided into groups, ultrasonic sensor in every group is all non-conterminous, front lower place sensor and rear sensor participate in grouping or separately in groups, ultrasonic sensor in every group is ignition trigger simultaneously, according to the maximum range of sensor, avoid the interference between continuous two sensors, between continuous two groups of igniting, insert certain time interval.
The control algolithm that described controller moves adopts shares control strategy, specific as follows:
First, controller is accepted the instruction of user's manipulation bar and the data message that ultrasonic sensor collects simultaneously, and controller show that by the user instruction analysis collecting user's motion is intended to;
Secondly, after obtaining user's motion intention, the safety of whether travelling of the data judgement collecting by ultrasonic sensor wheelchair under this movement instruction, if Environmental security is directly given user instruction wheelchair and is carried out; Otherwise, by the algorithm in controller, calculate the movement instruction of wheelchair driving safety, then safety command is handed down to wheelchair and carries out, guarantee the driving safety of wheelchair.
Technical solution of the present invention, respectively installs a set of ultrasonic sensor in the front and back of electric wheelchair, and sensor signal is gathered, processes by controller.The ultrasonic sensor that install in the place ahead is in order to survey move ahead stairway step in process or the ground caved in etc. of wheelchair the place ahead environment and wheelchair.When stair or step appear in the ground, the place ahead that wheelchair travels, stop the forward travel of wheelchair to avoid collision and dangerous.When wheelchair travels the place ahead state of ground when safe, controller judges by the place ahead ultrasonic sensor whether direction of advance exists barrier, and if there is no barrier, is judged as Environmental security, and user's action bars instruction is issued to the motor control of wheelchair, control wheel chair sport.If there is barrier in the direction that user moves ahead, show dangerous, the command information of the obstacle information that controller gets sensor and user's manipulation bar merges, find out wheel chair sport safety, feasible direction, and control wheelchair by the motion of this direction, guarantee security of operation.The ultrasonic sensor that install at electric wheelchair rear is in order to judge that user is when handling wheelchair backward, and whether the rear environment of wheelchair exists barrier, safety whether, carries out user instruction when safe, in dangerous situation, stops wheel chair sport.
The present invention can handle user, control wheelchair in, meet, realize in the situation of user view, the detection by ultrasonic sensor to wheelchair surrounding enviroment, ensures wheelchair driving safety.
Accompanying drawing explanation
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is ultrasonic sensor mounting structure side view in system provided by the present invention;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is sensor interface plate connection diagram in the present invention;
Fig. 4 is the sensor group of the present invention tactful schematic diagram of lighting a fire;
Fig. 5 is shared control strategy flow chart of the present invention.
The specific embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art further to understand the present invention, but not limit in any form the present invention.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
As shown in Figure 1, 2, electric wheelchair provided by the present invention is auxiliary to be driven, and comprising: the ultrasonic sensor 2 that is arranged on wheelchair 1 the place ahead is uniformly distributed in the position, the place ahead of wheelchair 1, and position is provided with the ultrasonic sensor 3 of surveying to front lower place simultaneously forwardly.At the position, rear of wheelchair, ultrasonic sensor 4 is installed and directly rearward surveys.
Because output and the control signal of ultrasonic sensor is digital I/O signal, in the time of a plurality of sensor, use and need to take a large amount of digital I/O resources, designed in the present invention ultrasonic sensor interface card.Interface card by the I/O signal collection of all the sensors, gather, by or door a chip realize bus functionality.Concrete principle as shown in Figure 3.
For reducing the phase mutual interference between sensor, the igniting strategy of ultrasonic sensor is done and optimized.It is example that the wheelchair of take is installed 16 ultrasonic sensors altogether, and as shown in Figure 4, number consecutively that dead ahead is counterclockwise is 1-13.The downward acquisition sensor in the place ahead is numbered 14, and rear sensor number is 15,16.For reducing ultrasonic sensor noise jamming, the especially interference between 1-13 ultrasonic sensor each other, formulate following grouping igniting strategy: 1,5,9,13 is group one, 2,6,10,15 is group two, 3,7,11,14 for group three, 4,8,12,16 is for organizing four.Below and the sensor at rear due between phase mutual interference less, can, according to above method grouping, also can singly organize igniting.According to the maximum range of sensor, for avoiding the interference between continuous two sensors, between continuous two groups of igniting, should insert regular hour time delay.
The algorithm that the present invention moves adopts shares control strategy.The implication of sharing control refers between people, self-control system to be coordinated, a kind of control strategy of jointly robot being controlled.
Control flow of the present invention is as shown in Figure 5:
According to the control flow of Fig. 5, as follows to the specific descriptions of shared control strategy in the present invention:
First, controller is accepted the instruction of user's manipulation bar and the data message that ultrasonic sensor collects simultaneously, and controller show that by the user instruction analysis collecting user's motion is intended to.
Secondly, after obtaining user's motion intention, the safety of whether travelling of the data judgement collecting by ultrasonic sensor wheelchair under this movement instruction, if Environmental security is directly given user instruction wheelchair and is carried out; Otherwise, by the algorithm in controller, calculate the movement instruction of wheelchair driving safety, then safety command is handed down to wheelchair and carries out, guarantee the driving safety of wheelchair.
Although content of the present invention has been done detailed introduction by above-described embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.Those skilled in the art, read after foregoing, for multiple modification of the present invention with to substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (5)
1. an electric wheelchair DAS (Driver Assistant System), it is characterized in that, mainly by the electric wheelchair with stick, ultrasonic sensor and controller, formed, some ultrasonic sensors are installed on wheelchair, ultrasonic sensor is connected with controller, and controller is controlled ultrasonic sensor and gathered Ultrasonic Sensor Data, when user's manipulation bar is controlled wheel chair sport, controller calculates the control instruction of wheelchair safety traffic, controls wheelchair safety movement.
2. electric wheelchair DAS (Driver Assistant System) according to claim 1, it is characterized in that, described ultrasonic sensor comprises some ultrasonic sensors of being uniformly distributed in position, wheelchair the place ahead and surveying to dead ahead and right and left, is arranged on position, the wheelchair the place ahead ultrasonic sensor that below is surveyed forward, is arranged on the ultrasonic sensor that position, wheelchair rear is surveyed to dead astern.
3. electric wheelchair DAS (Driver Assistant System) according to claim 1, it is characterized in that, also comprise a sensor interface plate, by sensor interface plate, the control of all ultrasonic sensors and data circuit are integrated in bus, ultrasonic sensor communicates by form and the controller of bus, for controller, controls sensor, pick-up transducers data.
4. an electric wheelchair auxiliary driving method, it is characterized in that, the system of employing as described in claim 1,2 or 3 completes, and described controller adopts the policy control ultrasonic sensor of grouping igniting and gathers Ultrasonic Sensor Data, and the strategy of described grouping igniting is as follows:
All ultrasonic sensors at position, the place ahead are divided into groups, ultrasonic sensor in every group is all non-conterminous, front lower place sensor and rear sensor participate in grouping or separately in groups, ultrasonic sensor in every group is ignition trigger simultaneously, according to the maximum range of sensor, avoid the interference between continuous two sensors, between continuous two groups of igniting, insert certain time interval.
5. electric wheelchair auxiliary driving method according to claim 4, is characterized in that, the control algolithm that described controller moves adopts shares control strategy, specific as follows:
First, controller is accepted the instruction of user's manipulation bar and the data message that ultrasonic sensor collects simultaneously, and controller show that by the user instruction analysis collecting user's motion is intended to;
Secondly, after obtaining user's motion intention, the safety of whether travelling of the data judgement collecting by ultrasonic sensor wheelchair under this movement instruction, if Environmental security is directly given user instruction wheelchair and is carried out; Otherwise, by the algorithm in controller, calculate the movement instruction of wheelchair driving safety, then safety command is handed down to wheelchair and carries out, guarantee the driving safety of wheelchair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410228199.3A CN104000694A (en) | 2014-05-27 | 2014-05-27 | Electrically powered wheelchair auxiliary driving system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410228199.3A CN104000694A (en) | 2014-05-27 | 2014-05-27 | Electrically powered wheelchair auxiliary driving system and method |
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| CN104000694A true CN104000694A (en) | 2014-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410228199.3A Pending CN104000694A (en) | 2014-05-27 | 2014-05-27 | Electrically powered wheelchair auxiliary driving system and method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105250085A (en) * | 2015-11-02 | 2016-01-20 | 深圳佳宜佳科技有限公司 | Automatic obstacle avoidance control system of electric wheelchair |
| CN106933230A (en) * | 2017-04-11 | 2017-07-07 | 江苏东方金钰智能机器人有限公司 | A kind of control method for robotic tracking and the ultrasonic transducer system of avoidance |
| CN107024695A (en) * | 2017-04-10 | 2017-08-08 | 江苏东方金钰智能机器人有限公司 | Ultrasonic distance-measuring sensor system and its control method for robot obstacle-avoiding |
| CN107175659A (en) * | 2017-05-02 | 2017-09-19 | 上海木爷机器人技术有限公司 | Obstacle Avoidance and device |
| CN109414363A (en) * | 2016-06-24 | 2019-03-01 | 松下电器产业株式会社 | Electric wheelchair |
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| CN202568664U (en) * | 2012-03-09 | 2012-12-05 | 常州汉迪机器人科技有限公司 | Omni-directional intelligent electrically powered wheelchair |
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| US4260035A (en) * | 1979-07-26 | 1981-04-07 | The Johns Hopkins University | Chin controller system for powered wheelchair |
| JPH09262258A (en) * | 1996-03-28 | 1997-10-07 | Suzuki Motor Corp | Auxiliary motor controller for wheelchair |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105250085A (en) * | 2015-11-02 | 2016-01-20 | 深圳佳宜佳科技有限公司 | Automatic obstacle avoidance control system of electric wheelchair |
| CN109414363A (en) * | 2016-06-24 | 2019-03-01 | 松下电器产业株式会社 | Electric wheelchair |
| CN109414363B (en) * | 2016-06-24 | 2020-02-18 | 松下电器产业株式会社 | Electric wheelchair |
| CN107024695A (en) * | 2017-04-10 | 2017-08-08 | 江苏东方金钰智能机器人有限公司 | Ultrasonic distance-measuring sensor system and its control method for robot obstacle-avoiding |
| CN106933230A (en) * | 2017-04-11 | 2017-07-07 | 江苏东方金钰智能机器人有限公司 | A kind of control method for robotic tracking and the ultrasonic transducer system of avoidance |
| CN106933230B (en) * | 2017-04-11 | 2019-09-10 | 江苏东方金钰智能机器人有限公司 | Control method for robotic tracking and the ultrasonic transducer system of avoidance |
| CN107175659A (en) * | 2017-05-02 | 2017-09-19 | 上海木爷机器人技术有限公司 | Obstacle Avoidance and device |
| CN107175659B (en) * | 2017-05-02 | 2019-12-17 | 上海木木机器人技术有限公司 | Robot obstacle avoidance method and device |
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Application publication date: 20140827 |
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