Detection And Control System Design Of Intelligent Wheelchair

With the aging of population becoming serious, the number of elderly with mobility problems, caused by disease or accident and so on, is increasing every day. They have to ask others for help in their daily activities. It causes an incubus to the family and society. How to help these people to improve their self-care ability catches the concern of society.Intelligent wheelchair, as a simple and efficient transportation, is appropriate for older people with mobility problems and can help them regain the ability of self-care. In this thesis, an intelligent wheelchair was proposed, which can assist user in sitting to seat safely and effectively.In this thesis, the impact that user suffered during sitting process was acquired by experiments. The influence elements of the impact were analyzed according to the experiment data. The relationship among sitting depth and the distance between user and wheelchair and the impact was obtained.Then the detection method of user position and posture by laser scan sensor was introduced. The process of human information extract from measurement data was expounded.In addition, the approaching control strategy of wheelchair was proposed. The two-link mode of lower limbs was built for sitting assistant. According to the mode and result of impact experiment, the sitting control strategy of wheelchair was designed.For achieving the function of sitting assistant, the software and hardware of wheelchair was structured. Finally, the effective of proposed methods was verified by experiment.