The Reserach Of Obstacle Avoidance System In Intelligent Wheelchair Based On ARM

The increasingly serious problem of an aging society and the increase in the proportion of persons with disabilities, the daily lives of elderly and the disabled people is becoming a major social problem which they must be faced. With the development of technology, the emergence of advanced means of transport is gradually improving their quality of life. Electric wheelchair is the important one of them. Because special circumstances of the elderly and disabled, the intelligent control of electric wheelchair is put forward higher requirements. Intelligent Wheelchair is used intelligent robot technology in electric wheelchairs. Its automation has been greatly improved and well satisfied the use of elderly and disabled people.To Tianjin application of basic and cutting-edge research programs important project as a background in this paper, the research of obstacle avoidance system in intelligent wheelchair based on ARM has been studied. The obstacle avoidance system consists of ultrasound, infrared LED, electronic compass, encoders and other sensors to complete the collection of environmental information. Through the CAN Bus sent Real-time information to the ARM. After analytical processing and making control decisions of ARM, It will send control commands to DSP. Finally, the motion control of intelligent wheelchair will be completed by the DSP. The touch-screen of ARM not only has manual control, but also has an automatic control mode. In manual control mode, intelligent wheelchair can be achieved forward, backward, turn left, turn right, stop and other action by touching the screen. Control interface displays real-time obstacles information around wheelchair and the angle between the positive direction of wheelchair and magnetic north. In the automatic control mode, intelligent wheelchair can achieve obstacle avoidance, pass the door, walk along the wall, indoor roaming and point to point intelligent behavior, etc. Point to point function needs completed the acquisition of environmental information in advance and ARM will store these information in the CF card. If you want to complete the assigned path, simply open the corresponding file and control commands will be automatically executed until it reaches the specified location. These intelligent behavior completely from the practicability, greatly make up for the defects manually disabled and has good stability and flexibility.The control system is simple, convenient, low cost. With practical, innovative, advanced, it is a high reliability control system for obstacle avoidance and has been successfully applied in practice. Due to the modular design, it has good connectivity. After subsequent development of the technology, it can be applied to other service robots and has significant social and economic benefits.