Development Of Intelligent Wheelchair Motion Control System

This research is based on the National Key Research and Development Program Science and Technology Winter Olympic sub-project,aiming to provide a more intelligent wheelchair auxiliary equipment for physically disabled Winter Olympic staff,spectators and non-competition athletes during the 2022 Beijing Winter Olympic Games.In recent years,with the progress of society and the development of aging phenomenon,the demand for intelligent wheelchairs is increasing for the elderly and disabled people with mobility problems,which has broad market prospects and social significance.At present,intelligent wheelchairs or electric wheelchairs generally have problems such as the running speed control is not smooth and compliant,and it is unable to coordinate and communicate with other intelligent system modules carried by the wheelchair.Therefore,it is of great practical significance and application value to develop a motion control system which has the function of speed planning motion control and can coordinate and communicate with other intelligent systems.In this paper,a set of intelligent wheelchair motion control system is developed,which can realize the speed planning motion control of the wheelchair and the coordination and communication with other intelligent systems.The main work content is reflected in four aspects,that is,the overall scheme design of the intelligent wheelchair mechanical structure and motion control system,the hardware circuit design,the software development and design,and the system test and application.Based on the ARM Cortex-M3 core microcontroller,the overall architecture of the control system is constructed,which is "main control board + motion control system driver + actuator".The main control board is responsible for the differential calculation of the rocker control command signal and sending it to the drive of the motion control system.The driver of the motion control system is responsible for the open-closed loop motion control functions such as differential drive and speed planning of the dual-channel motor,and the real-time collection and feedback of the system working state data.The main control board,the motion control system driver and other intelligent system modules carried by the wheelchair extension communicate through the CAN bus network,and the CAN bus communication protocol is formulated.In terms of hardware circuit design,based on STM32F103CBT6 master control chip,the schematic diagram construction of MCU minimum system,power supply,motor drive,Hall speed measurement module,communication and data storage and safety protection circuits and the selection of electronic components were completed,and PCB design,board making and welding testing were carried out.In terms of software development and design,the software architecture of the motion control system was modularized based on μC/OS-II real-time operating system,and the electronic differential calculation of the rocker control command signal,the drive control of the dual-channel DC brush motor,the collection and feedback of the system working state,and the communication of the CAN bus network protocol between the systems were realized.Finally,the intelligent wheelchair motion control system platform was completed and the overall debugging of software and hardware and project demonstration application were carried out.The test and application results show that: The intelligent wheelchair structure design is reasonable,the motion control system realizes the speed planning motion control function of the wheelchair,solves the shortage of coordination and communication with other intelligent system modules carried by the wheelchair expansion,and the system works stably and reliably to meet the daily use and motion control needs of the intelligent wheelchair.It lays a certain technical foundation for the further research and development of new intelligent wheelchair products suitable for the aging society.