Research On Intelligent Wheelchair Control System

With the increasing proportion of the aging population in China,the demand for wheelchairs is also increasing.As a tool that can improve the quality of life and freedom of movement for elder,the study of intelligent wheelchairs really has a wide range of market prospects and social values.Through in-depth understanding of the development status and key technologies of intelligent wheelchairs,this thesis has designed an intelligent wheelchair control system that can achieve automatic obstacle avoidance and monitor alarm function.The idea of modularization has been adopted by this thesis.Intelligent wheelchair control system is divided motion control module,ultrasonic obstacle avoidance,wireless communication module,monitoring alarm module,image acquisition module and human-computer interaction module.This thesis has based on the STM32F103RCT6 microcontroller as its core to correspond peripheral circuits to form an intelligent wheelchair control system.And complete the system's hardware and software design to achieve the desired function and control effect.For the human-machine interaction module of the intelligent wheelchair,this thesis has been designed smart phone touch screen control and joystick control as two control methods to enrich the operation mode.In order to help users to understand their surroundings around the wheelchair in time,the image acquisition module has been designed to collect environmental information behind the wheelchair.In the alarm module design,SIM300 module has been used to achieve remote alarm.The obstacle avoidance module of the intelligent wheelchair has been adopted 3-way ultrasonic wave to carry out obstacle information detection on the front,left and right sides of the wheelchair respectively.And using fuzzy algorithm to get the fuzzy relationship between the direction and position of the obstacle,according to the wheelchair's movement strategy,developed 35 fuzzy control rules,through the fuzzy controller output steering angle,to achieve wheelchair safety obstacle avoidance.Finally,the thesis tests the various modules of the intelligent wheelchair control system.The test results have shown that the system can respond to input order in real time,then complete functions such as automatic obstacle avoidance,image acquisition,and monitoring and alarm.It has strong practical value.