智能轮椅检测与控制系统设计

发布时间：2018-04-14 14:16

本文选题：智能轮椅 + 激光扫描　；参考：《沈阳工业大学》2016年硕士论文

【摘要】：随着人口老龄化趋势的加剧,在老年人口中由疾病、外伤,及运动功能衰退导致行动不便的老年人越来越多,他们生活中需要不断求助他人,给家庭和社会都带来了极大的负担。如何帮助这些人恢复生活的自理能力,成为社会关注的问题。智能轮椅作为一种简单有效的代步工具,很适合行动能力基本丧失的老年人,使他们能够重新获得自主行动的能力。基于现在的研究现状,本文提出了一种智能轮椅系统,其能够在使用者从站立到坐在轮椅上的过程中,提供有效的帮助,让使用者能够安全舒适地坐到轮椅上。本文首先,通过实验分析了不同条件下人体坐到轮椅上时,人体受到的冲击产生的冲击,得到了坐深和人与轮椅的间距对人体受到冲击力大小的关系。其次,介绍通过激光扫描传感器获取人体相对于轮椅位置信息和站姿及其坐下时小腿姿态变化的方法,并提出了一种人体小腿轮廓的匹配方法来提取人体数据。接着了描述了轮椅的运动学模型,利用人工势场法对轮椅接近人体的路径进行了规划;建立了人体下肢的二连杆模型,并依据该模型和冲击力实验的结论,对轮椅辅助使用者坐下时的控制方法进行了设计。然后依据轮椅的功能需求设计了智能轮椅的整体的软硬件系统,最后通过实验对所提出人体数据提取方法和轮椅控制策略的有效性进行了验证。
[Abstract]:As the ageing of the population intensifies, the number of elderly people with disabilities caused by illness, trauma, and decline of motor function in the elderly population is increasing, and they need to seek help from others in their lives.It imposes a great burden on the family and the society.How to help these people to restore their self-care has become a social concern.As a simple and effective mobility tool, intelligent wheelchair is suitable for the elderly with basic loss of mobility, so that they can regain the ability of autonomous movement.Based on the current research situation, this paper proposes an intelligent wheelchair system, which can provide effective help for users to sit safely and comfortably in a wheelchair during the process of standing up to sitting in a wheelchair.In this paper, the impact of the human body on the wheelchair under different conditions is analyzed through experiments, and the relationship between the sitting depth and the distance between the person and the wheelchair on the impact force on the human body is obtained.Secondly, the method of obtaining the position information of human body relative to wheelchair, the position of standing and the change of calf posture when sitting down by laser scanning sensor is introduced, and a matching method of human shank contour is proposed to extract human body data.Then, the kinematics model of wheelchair is described, the path of wheelchair approaching human body is planned by artificial potential field method, the two-link model of human lower limb is established, and according to the conclusion of the model and impact force experiment,The control method of wheelchair-assisted user sitting down is designed.Then the whole software and hardware system of the intelligent wheelchair is designed according to the functional requirements of the wheelchair. Finally, the validity of the proposed human data extraction method and the wheelchair control strategy is verified by experiments.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TH789

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