Research On The Chassis Sensingsystem Of Climbing Wheelchairbased On DSP

At present,China has entered an aging society,and the number of people with disabilities is always increasing year by year,because the elderly and the disabled people can not move conveniently,wheelchair has become their effective means of transport.Stair-climbing wheelchair research has a long history,various mechanisms have been designed,but now there are some defects on the electric climbing stairs wheelchairs,mainly reflected in the single structure,the application field is not wide enough and it is complex and not smooth in the climbing operation and obstacle-crossing.Chassis mechanism as the main auxiliary mechanism,which can make wheelchair up and down the stairs safely and stably.In order to make the chassis mechanism more accurate and stable to assist the front leg of the wheelchair to complete climbing floor action,it is necessary to install a sensing system for detecting the surrounding environment information.Therefore,this subject is mainly focused on chassis-sensing system of wheelchair.First,through the analysis of the motion condition of the chassis mechanism in the wheelchair climbing process,determining the control requirements of the chassis sensing system,further the installation position of multiple sensors in the environmental detection device is reasonably arranged.According to wheelchair climbing demand,completing the overall scheme design of chassis-based sensing system based on TMS320F2812 DSP.Then,we carry out the hardware and software design of each functional module of the chassis-sensing system,which include sensor detecting module: the ultrasonic sensor and infrared sensor which can detecting distance from the kicking surface and tread surface,and angle sensor which can detecting chassis inclination and roll angle;Deceleration stepper motor module and clutch module.These modules include the AD module of DSP,EV event manager module,CPIO module and SCI module.The hardware design mainly analyzes the circuit design of each module,and the software design mainly explain the programming design flow to each module.Finally,realization of serial communication between PC and DSP based on MSComm control.Because there are multiple master chip DSP on a control board.Toachieve communication between PC and multiple DSP,one-to-one serial communication is realized in the multi-machine communication mode between PC and appointed DSP,the experimental data would be displayed in the host computer display interface to complete the human-computer interaction.On the basis of this,a large number of experimental data are obtained through debugging,the error of the experimental results is analyzed,and the measures to reduce the errors are put forward.