The Control System Design Of Legged Stair-climbing Wheelchair

With the social development and technological progress, China is facing an increasingly serious problem of population aging and disability issues caused by various accidents. Electric wheelchair, a kind of assistance tool which is developed for the elderly and disabled, appeared with the tide of the times. The electric wheelchair is a stair-climbing tool which is powered by battery, controlled by joystick, drove by motor and detected by the sensor, and the advantages of electric wheelchair is easy to operate, running independently and smoothly, non-pollution and low noise etc. At present, there is a lack of high-performance electric wheelchair and the core control technology, the high price of foreign products is difficult to be accepted by domestic users. Therefore, our primary research purpose is to design a high-performance, low-cost electric wheelchair control system.The article is mainly around the design of electric wheelchair context-aware systems.Firstly, This paper introduces electric wheelchair research background and research status at home and abroad.Then by conducting research on the advanced control technology of the world, and based on the electric wheelchair function and exercise requirements, the paper designed a control system based on STC12C5A32S2 microcontroller. Secondly, it has designed the various functional modules of the controller, including power modules,ranging sensor module, tilt sensor module, stepper motor modules and external aided design modules, USART asynchronous communication modules etc. And according to the reliability requirements of controller, we also designed the sensor fault detection module and autonomous obstacle avoidance module. Finally, the host computer simulation system was built by proteus software, so the host computer can adjust the action of the front legs and the seat position by the sensor data. As well as the design also add manual mode for the seat adjustment, easy for people to use.By building the prototype of control system, the debugging of the whole system is finished. The results prove that the design of the experiment is feasible and reliable, we had achieved the desired purpose.