System Control Indoor Intelligent Wheelchair

With the development and progress of science and technology, the scope of human activities is continually expanding, but the free capacity of the disabled and the elderly is still limited. Intelligent wheelchair was put forward as transport of high intelligence for the disabled and the elderly with the national calling for creating a harmonious society and caring for vulnerable groups. Using mobile robot technology in ordinary electric wheelchair platform to improve their movement freedom and social integration. Since Intelligent wheelchair serves the people, its safety, practicality, low cost and mass production are the key points of consideration. This article focuses on intelligent wheelchair obstacle avoidance system on the basis of its control system modularization, and specific jobs are as follows:Firstly, determine the basic control structure of intelligent wheelchair with SCM and PC104,and then divide it into mechanical structure, power module, driver module, obstacle avoidance, motion control and human-computer interaction.Secondly, design power module and achieve signal acquisition of manual control lever. There are four kinds of operating signal, forward, backward, turn left and turn right, corresponding to different motor control states.Thirdly, complete the design of ultrasonic obstacle avoidance module on its hardware and software, and then conduct experiment with three ultrasonic sensors and eight ultrasonic sensors respectively in order to avoid its limitations.Fourthly, select the appropriate motor, drive BLDC by BLD-300B and use PWM produced by AT89S52to control motor speed.Fifthly, build mathematical model of indoor intelligent wheelchair with kinematics analysis and set safety distance in different directions. The model provides a theoretical basis for the obstacle avoidance system design and pave the way for multi-sensors fusion algorithm.Lastly, propose multi-sensors fusion algorithm separately based on fuzzy control and FNN. The simulation with Matlab software shows their good effects of static obstacles avoidance, which will lay a foundation for the follow-up study of path planning and dynamic obstacles avoidance.