Design And Realization Of The Platform Of The Upper Computer Control System For Wheelchair Climbing-stairs Based On VC++

With the continuous improvement of the social security system,the quality of life in the elderly and the disabled is improving,but the problem of travel remains a problem for most of the elderly and the disabled.In order to solve this problem,this topic designed a climb building intelligent electric wheelchair,the stairs wheelchair can realize the function of up and down the stairs and obstacle,and because of the complexity of the wheelchair structure,how to reasonably to control the wheelchair is the key to this topic,this thesis aimed at this situation,design a kind of PC control system operation platform,used for the single machine and the whole machine control of the wheelchair.Firstly,based on the analysis of the wheelchair control requirements,the main modules of the operation platform of the upper computer control system are controlled by single machine and multi-machine control system.The main tasks of the former are the single-machine control and monitoring of the front legs,rear legs,seats and chassis,etc.The latter mainly carries out multi-machine control and process monitoring.Second,design serial communication module.Single machine and multi-machine communication mode are designed for single-machine and multi-machine control.This paper introduces the idea of single machine communication,communication protocol and realization method.And The multi-machine communication is designed to coordinate the movement of various bodies in wheelchairs.It is the integration of single communication,therefore,Multi-machine communication protocol is designed and multi-machine coordination control algorithm is used to interact with each other.In the end,the operating platform is designed and implemented with VC++6.0.In order to realize the single-machine control of wheelchairs,the structure characteristics of the front legs,hind legs and seats are analyzed.to determine the control instruction format,and thus the design of the front legs,a single control interface hind legs and other agencies.In addition,the foreleg mechanism for the pilot,the trajectory planning of the floor and adding fuzzy behavior the control algorithm based on motion control.The forelegs single control,coordination control method to design a multi machine,and combined with MATLAB,according to the wheelchair behavior model developed by MATLAB automatic drawing of wheelchair control.And in the process of building automatic control to monitor the operation status of the wheelchair,according to real time The sensor data regulates the running of the wheelchair.By testing the operating platform of the upper computer control system,It is proved that the operation platform can communicate with the lower computer well,and can complete the real-time control and monitoring of the wheelchair through cooperation with the lower computer.