The Control System Design Of Brain Waves Intelligent Wheelchair

With the social development and the progress of science and technology, more and more vulnerable groups such as the elderly and the disabled start to use intelligent wheelchair. In order to make intelligent wheelchair serve the elderly and disabled better, improve their moral elites, scholars have researched intelligent wheelchairs with different human-machine interfaces.Based on the human-computer interaction naturalized and security comprehensive and design multi-type and modularized, the control system of the intelligent wheelchair controlled by brain waves is studied in this topic. Through the extraction and treatment of the brain waves signal and the use of hoare sensors, two kinds of man-machine interface including brain waves control and joystick control, as well as conversion between the two modes, are realized; Using special motor driver chip of the motor realizes the function of double H bridge driver; With the method of multi-sensor information fusion technology, multiple ultrasonic sensors are adopted to realize the obstacle avoidance function of the intelligent wheelchair.In this control system, a portable PC machine is used as an upper machine, manipulating the tedious calculation and information processing. MSP430F449is used as a master unit, realizing control of the speed, motion and direction. Portable PC machine transfers data with main controller through a serial interface, with the set of hardware and software, the control system about brainwave and joystick is established, the major function of intelligent wheelchair such as forward, turn left, turn right and stop the basic motion can be realized. In VB programming, the man-machine interface about selection for brainwave and joystick control mode is designed, and the motion, speed, power about wheelchair and false alarm can also display in the above interface.The fuzzy control method is implemented for autonomous obstacle avoidance function of intelligent wheelchair. In this module,8ultrasonic sensors are used in order to get the distance information of the obstacle. A fuzzy controller is designed by the tool of MATLAB. Through taking fuzzy and anti fuzzy processing in the controller, the distance information measured by sensor is treated as a precise value used to control two motor, so as to achieve the purpose of wheelchair steering clear of obstacles.