CN210494423U - Wheelchair with intelligent navigation function - Google Patents
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- CN210494423U CN210494423U CN201822064444.8U CN201822064444U CN210494423U CN 210494423 U CN210494423 U CN 210494423U CN 201822064444 U CN201822064444 U CN 201822064444U CN 210494423 U CN210494423 U CN 210494423U
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Abstract
The utility model discloses a wheelchair with intelligent navigation function, include: a wheelchair body and a navigation system; wherein, navigation sets up in the wheelchair main part, includes: the system comprises an environment acquisition module, a map module, a setting module, a judgment module, a state acquisition module and a navigation module; the environment acquisition module is used for acquiring environment information of the intelligent wheelchair; the map module is used for creating a grid map and a movement cost map according to the environment information; the setting module is used for setting a driving target position and converting the driving target position into a plane coordinate on the grid map; the state acquisition module is used for acquiring real-time state information of the intelligent wheelchair; the judging module is used for judging the running state of the intelligent wheelchair according to the target position and the real-time state information; and the navigation module is used for navigating the intelligent wheelchair according to the running state of the intelligent wheelchair and the movement cost map.
Description
Technical Field
The utility model belongs to the technical field of intelligent wheelchair, concretely relates to wheelchair with intelligent navigation function.
Background
With the development of science and technology and the deepening of the aging degree of population, the intelligent wheelchair also becomes a tool for replacing the walk for many old people or people with inconvenient legs and feet; therefore, the technical added value of the intelligent wheelchair is higher, and the function of the intelligent wheelchair is more and more important.
The existing navigation method generally adopts a navigation map built in an operating system, and an intelligent wheelchair plans a path according to the navigation map so as to advance to a destination along the planned path, but the navigation method cannot solve the problem and is not intelligent enough when an obstacle appears in the advancing process, meanwhile, an A star algorithm is adopted to plan the path to obtain a shorter advancing path in the prior art, but when the obstacle is reached, the path is re-planned, and the error caused by the self direction change of the intelligent wheelchair cannot be realized, so that more reasonable path planning cannot be realized.
In summary, there is a need for a navigation method that can effectively reduce the error caused by the change of direction, so as to achieve a more reasonable specification of shortest path when the intelligent wheelchair encounters an obstacle during the traveling process.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems existing in the prior art, the utility model aims to provide a wheelchair with intelligent navigation function.
The utility model discloses the technical scheme who adopts does:
a wheelchair with intelligent navigation functionality, comprising: a wheelchair body and a navigation system; wherein, navigation sets up in the wheelchair main part, includes: the system comprises an environment acquisition module, a map module, a setting module, a judgment module, a state acquisition module and a navigation module; the environment acquisition module is used for acquiring environment information of the intelligent wheelchair; the map module is used for creating a grid map and a movement cost map according to the environment information; the setting module is used for setting a driving target position and converting the driving target position into a plane coordinate on the grid map; the state acquisition module is used for acquiring real-time state information of the intelligent wheelchair; the judging module is used for judging the running state of the intelligent wheelchair according to the target position and the real-time state information; and the navigation module is used for navigating the intelligent wheelchair according to the running state of the intelligent wheelchair and the movement cost map.
Further, the navigation system further includes: and the communication module is used for being in communication connection with the background server and interacting wheelchair positioning information and navigation information.
Furthermore, the communication module is in communication connection with the user terminal and receives a control instruction input by the user at the user terminal.
Further, the navigation system further includes: and the control module is arranged on the wheelchair armrest and used for receiving the control instruction input by the user.
Further, the method also comprises the following steps: and the power supply module is used for supplying power to the wheelchair and the navigation system.
Further, the environment acquisition module comprises: laser range finder.
Further, the operation method of the navigation system comprises the following steps: step S1, scanning an indoor environment, establishing a navigation grid map of the working area of the intelligent wheelchair, importing the navigation grid map into an operating system of the intelligent wheelchair, and establishing a wheelchair movement cost map on the grid map; step S2, positioning the current position of the intelligent wheelchair and the target end point of the intelligent wheelchair, converting the current position of the intelligent wheelchair into coordinates on the grid map, planning the traveling path of the intelligent wheelchair, and driving the intelligent wheelchair to advance according to the path; step S3, when the path is obstructed in the step S2, acquiring real-time state information of the intelligent wheelchair, and performing real-time path planning on the intelligent wheelchair traveling path according to the real-time state information and the position information of the target end point, wherein in the real-time path planning process, the direction change cost is introduced into the actual cost of calculating the current position cost function of the intelligent wheelchair, and the costs of the intelligent wheelchair in different directions of the current position are calculated; and step S4, searching the costs of the intelligent wheelchair in different directions at the current position, judging the motion state of the intelligent wheelchair according to the real-time state information of the intelligent wheelchair, planning an optimal path in real time by combining a motion cost map, and selecting the direction with the minimum cost to advance so as to realize intelligent navigation.
The utility model has the advantages that:
the utility model provides a wheelchair with intelligent navigation function can realize intelligent navigation, utilizes the grid map of establishing in advance and motion cost map to realize self location, realizes the real-time supervision to dynamic barrier in the environment with the laser range finder who carries, realizes the leading obstacle avoidance and the navigation function that accord with human cognition; compared with the prior art, the utility model discloses a to the realization of intelligent wheelchair navigation algorithm, can be quick at the navigation in-process respond to the dynamic barrier, replanning the route when avoiding the barrier. And in the navigation process, the collision with fixed obstacles such as a wall and the like can be effectively avoided, the possible collision behavior can be avoided as much as possible, and the safety is improved.
Drawings
Figure 1 is a schematic view of a wheelchair assembly according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a module relationship according to an embodiment of the present invention.
Fig. 3 is a schematic navigation flow chart according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 and 2, the wheelchair with an intelligent navigation function of the present embodiment includes: a wheelchair main body 100 and a navigation system; wherein, the navigation system sets up on wheelchair main part 100, includes: the system comprises an environment acquisition module 1, a map module 2, a setting module 3, a judgment module 4, a state acquisition module 5 and a navigation module 6; wherein the content of the first and second substances,
the environment acquisition module 1 is used for acquiring environment information of the intelligent wheelchair;
the map module 2 is used for creating a grid map and a movement cost map according to the environment information;
the setting module 3 is used for setting a driving target position and converting the driving target position into a plane coordinate on the grid map;
the state acquisition module 5 is used for acquiring real-time state information of the intelligent wheelchair;
the judging module 4 is used for judging the running state of the intelligent wheelchair according to the target position and the real-time state information;
and the navigation module 6 is used for navigating the intelligent wheelchair according to the running state of the intelligent wheelchair and the movement cost map.
In addition, the navigation system may further include: a communication module 7, a control module 8 and a power supply module 9; wherein the content of the first and second substances,
the communication module 7 is used for being in communication connection with the background server 2 and interacting wheelchair positioning information and navigation information; the communication module 7 can also be in communication connection with the user terminal 3 and receive a control instruction input by a user at the user terminal 3.
And the control module 8 is arranged on the wheelchair armrest and used for receiving the control instruction input by the user.
And the power supply module 9 is used for supplying power to the wheelchair and the navigation system.
Based on the wheelchair with the intelligent navigation function, the working process is explained as follows:
first, an indoor environment is scanned by a laser range finder and environment information is provided to the map module 2. In practical application, the environment acquisition module 1 comprises a laser range finder;
the map module 2 creates a grid map according to the acquired environment information, classifies the grid map according to the traffic difficulty of the grid on the grid map, gives a movement cost, and generates a movement cost map.
The target position of the intelligent wheelchair is set by the setting module 3 and converted into corresponding coordinates on the grid map.
The real-time state information of the intelligent wheelchair is acquired through a state acquisition module 5, wherein the real-time state information comprises environment information of the intelligent wheelchair, current position information, a direction, a steering angle, a speed, an angular speed and the like corresponding to current driving. Specifically, the information such as the steering angle and the angular speed is calculated by acquiring the traveling distance and the speed of the wheels through an encoder mounted on the intelligent wheelchair.
And in the driving process, a judgment module 4 is used for judging which state is to be removed according to the target position, the current position of the intelligent wheelchair and the real-time state information, so that the judgment on the direction and the escape state is realized.
The navigation module 6 can be used for navigating the intelligent wheelchair according to different running states of the intelligent wheelchair and a movement cost map, and preferentially selects a path with low path cost and few obstacles to move forward so as to reach a target position.
In summary, the intelligent navigation method of the intelligent wheelchair of the present invention determines the position of the intelligent wheelchair according to the grid map established in advance, and the practical laser range finder observes the real-time change of the environment, and under the control logic, the obstacle is avoided and the navigation task is completed.
Corresponding to the wheelchair with the intelligent navigation function, the intelligent navigation method of the intelligent wheelchair comprises the following steps:
step S1, scanning an indoor environment, establishing a navigation grid map of the working area of the intelligent wheelchair, importing the navigation grid map into an operating system of the intelligent wheelchair, and establishing a wheelchair movement cost map on the grid map.
And step S2, positioning the current position of the intelligent wheelchair and the target end point of the intelligent wheelchair, converting the current position of the intelligent wheelchair and the target end point into coordinates on the grid map, planning the traveling path of the intelligent wheelchair, and driving the intelligent wheelchair to advance according to the path.
Step S3, when the path is obstructed in step S2, the real-time state information of the intelligent wheelchair can be obtained, and the real-time path planning is carried out on the intelligent wheelchair traveling path according to the real-time state information and the position information of the target terminal point, wherein,
in the real-time path planning process, the direction change cost is introduced into the actual cost of the cost function of the current position of the intelligent wheelchair through calculation, and the costs of the current position of the intelligent wheelchair in different directions are calculated.
And step S4, searching the costs of the intelligent wheelchair in different directions at the current position, judging the motion state of the intelligent wheelchair according to the real-time state information of the intelligent wheelchair, planning an optimal path in real time by combining a motion cost map, and selecting the direction with the minimum cost to advance so as to realize intelligent navigation.
Specifically, the real-time status information includes environmental information, current location information, current direction, speed, and angular velocity of the intelligent wheelchair; the utility model discloses an equipment laser range finder acquires environmental information on the intelligence wheelchair to and through the scanning to surrounding environment, carry out the contrast with the grid map and acquire the current position of vehicle. The information such as the steering angle and the angular speed of the intelligent wheelchair is calculated by acquiring the walking distance and the walking speed of the left and right wheels by using the encoder.
With reference to fig. 3, the specific process is as follows:
s101, scanning an indoor environment and establishing a grid map; the size of the grid determines the accuracy of the movement;
s102, establishing a plane coordinate system corresponding to the grid;
s103, establishing a movement cost map according to the grid map; specifically, the intelligent wheelchair moves at a position closer to the obstacle, the movement cost of the intelligent wheelchair is lower, and when the distance between the intelligent wheelchair and the obstacle is larger than a certain threshold value, the cost of the intelligent wheelchair is highest and is not changed any more;
s104, setting a target position, and converting the target position into a coordinate in a plane coordinate system;
s105, assembling a laser range finder and an encoder in the intelligent wheelchair, placing the wheelchair in an indoor environment, scanning the surrounding environment through the laser range finder, and comparing the environment with the established grid map to obtain the current position coordinate of the wheelchair;
and S106, acquiring environment information through the laser range finder, and acquiring the traveling distance and the speed of the left wheel and the right wheel through the encoder to calculate the real-time position, including information such as the current direction, the current speed, the current angular speed and the like, so as to judge the current state of the intelligent wheelchair.
The process of judging the state is as follows:
s201, scanning is carried out through a laser range finder, whether the wheelchair is in an escape state or not is judged, the original escape direction is kept when the wheelchair is in the escape state until the wheelchair escapes from a characteristic distance, the shape of the obstacle is obtained, and the path is planned again.
S202, taking the current position of the wheelchair as an origin, calculating a target direction of the target position relative to the current position, and judging whether an included angle between the current orientation and the target direction is greater than a preset value to judge whether steering is needed. And the steering is preferentially finished on the premise that the steering can be performed, so that the included angle between the orientation and the target direction is smaller than a certain value.
S203, if the wheelchair does not need to be steered, searching is carried out in the forward motion parameter space of the wheelchair, and an optimal front motion path is found out.
If the front obstacle prevents the wheelchair from moving forwards, the negative cost is given to the optimal forward movement, the wheelchair enters an escape state, and the wheelchair can be pulled a little distance to obtain a path again.
The present invention is not limited to the above-mentioned optional embodiments, and any other products in various forms can be obtained by anyone under the teaching of the present invention, and any changes in the shape or structure thereof, all the technical solutions falling within the scope of the present invention, are within the protection scope of the present invention.
Claims (6)
1. A wheelchair with intelligent navigation function, comprising: a wheelchair body and a navigation system; wherein the content of the first and second substances,
the navigation system sets up in the wheelchair main part, includes: the system comprises an environment acquisition module, a map module, a setting module, a judgment module, a state acquisition module and a navigation module; wherein the content of the first and second substances,
the environment acquisition module is used for acquiring environment information of the intelligent wheelchair;
the map module is used for creating a grid map and a movement cost map according to the environment information;
the setting module is used for setting a driving target position and converting the driving target position into a plane coordinate on the grid map;
the state acquisition module is used for acquiring real-time state information of the intelligent wheelchair;
the judging module is used for judging the running state of the intelligent wheelchair according to the target position and the real-time state information;
and the navigation module is used for navigating the intelligent wheelchair according to the running state of the intelligent wheelchair and the movement cost map.
2. The wheelchair with intelligent navigation function of claim 1, wherein the navigation system further comprises: and the communication module is used for being in communication connection with the background server and interacting wheelchair positioning information and navigation information.
3. The wheelchair with intelligent navigation function of claim 2, wherein the communication module is further in communication connection with a user terminal for receiving the control command input by the user at the user terminal.
4. The wheelchair with intelligent navigation function of claim 1, wherein the navigation system further comprises: and the control module is arranged on the wheelchair armrest and used for receiving the control instruction input by the user.
5. The wheelchair with intelligent navigation function of claim 1, further comprising: and the power supply module is used for supplying power to the wheelchair and the navigation system.
6. The wheelchair with intelligent navigation function of claim 1, wherein the environment acquisition module comprises: laser range finder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822064444.8U CN210494423U (en) | 2018-12-10 | 2018-12-10 | Wheelchair with intelligent navigation function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822064444.8U CN210494423U (en) | 2018-12-10 | 2018-12-10 | Wheelchair with intelligent navigation function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210494423U true CN210494423U (en) | 2020-05-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822064444.8U Active CN210494423U (en) | 2018-12-10 | 2018-12-10 | Wheelchair with intelligent navigation function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210494423U (en) |
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2018
- 2018-12-10 CN CN201822064444.8U patent/CN210494423U/en active Active
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