Smart Wheelchair Hardware Design And Control System Based On STM32

Along with society’s progress and development,expanding the scope of people to activity,but walking the elderly,and some injury for various reasons,people with disabilities in such aspects as life travel is limited by many.As artificial intelligence,unmanned,the rapid development of machine learning techniques in recent years,the national science and technology innovation,the national grand strategy of artificial intelligence and civilization harmonious suggestion on,more and more devices will be intelligent,among them,the intelligent wheelchair is one of them.In this paper,the intelligent wheelchair is used as the project to complete the hardware platform of a smart wheelchair.The main work is:1)STM32 is chosen as the core control chip to control the intelligent wheelchair.The cost Choose battery,motor,drive plate,rocker,button,ultrasonic sensor,electronic compass and other modules,complete the wheelchair hardware construction and implementation.Finally,try to balance the cost of manufacturing,and hope to create intelligent and practical products that are rich in function and affordable to the public.2)In the part of program programming and implementation,the design of motion control system of wheelchair is studied in detail.First,the control algorithm of wheelchairs was studied,and the control of the wheelchair was realized by using the reading of AD,the control output of PWM and the interruption of timer.After that,the wheelchair function was further expanded,and T method was used to measure the speed,and the results were improved by sliding average.Ultrasonic ranging is added to avoid obstacles.The electronic compass is used to obtain the direction,and the error is analyzed and corrected.The key switch is added to realize the switching between different modes.This paper studies the function of communication,and designs the action based on mode selection and instruction content.To create conditions for progress,allow it to access the ROS system and provide the possibility of introducing artificial intelligent driverless technology.Finally,the use of the deep camera is explored in order to realize the higher function of ROS.