Self-positioning method for intelligent wheelchair in corner area

A self-positioning, wheelchair technology, applied in the field of positioning, can solve the problems of insufficient distance and insufficient processor to plan the correct corner route, and achieve the effect of accurate data and improved data accuracy.

Active Publication Date: 2011-12-28
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0002] With the development of science, people have higher and higher requirements for the intelligence of wheelchairs. Traditional smart wheelchairs include wheelchair body, manual operation interface and operating system. At present, there is no intelligent robot wheelchair that can design and operate its own route according to the site conditions. The difficulty in realizing the intelligent robot wheelchair lies in the self-positioning of the wheelchair, especially in

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  • Self-positioning method for intelligent wheelchair in corner area
  • Self-positioning method for intelligent wheelchair in corner area
  • Self-positioning method for intelligent wheelchair in corner area

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Embodiment Construction

[0037] The present invention will be further described below in conjunction with drawings and embodiments.

[0038] A self-positioning method for an intelligent wheelchair in a corner area, which includes a camera, a sonar sensor, a first Kalman filter and a second Kalman filter, and the steps are as follows:

[0039] 1) The camera and sonar sensor collect the environmental information near the wheelchair, and record the distance between the detection position and the wheelchair as L c and L s ;

[0040] 2) The first Kalman filter is applied to the L collected by the camera c Carry out analysis and processing, correct the camera detection value, and obtain the estimated value L of the camera detection distance ck ;

[0041] 3) Compare L ck with L s The value of is to exclude the sonar detection error data with large error L s , to correct the sonar detection value to obtain the estimated detection distance L of the sonar sensor sk ;

[0042] 4) Change the L ck with L...

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Abstract

The invention relates to a self-localization method of an intelligent wheelchair in corner areas. The wheelchair comprises a camera, sonar sensors, a first Kalman filter, and a second Kalman filter. Environmental information is collected by the sensors. The information is processed through two times of Kalman estimation, such that corresponding weight values of the sensors are obtained. Then a corner position is monitored, and an accurate distance between the wheelchair and the corner is obtained through calculation, such that self-localization is achieved.

Description

technical field [0001] The invention relates to a positioning method, in particular to a multi-sensor information fusion positioning method. Background technique [0002] With the development of science, people have higher and higher requirements for the intelligence of wheelchairs. Traditional smart wheelchairs include wheelchair body, manual operation interface and operating system. At present, there is no intelligent robot wheelchair that can design and operate its own route according to the site conditions. The difficulty in realizing the intelligent robot wheelchair lies in the self-positioning of the wheelchair, especially in places where corners are required. The wheelchair needs to accurately measure the distance between the wheelchair itself and The distance and position relationship between the corners, the processor then formulates corresponding route planning according to the distance and position relationship. Since the wheelchair is always in operation, the dis...

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Application Information

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IPC IPC(8): G01C21/00G01S15/08G01C3/00
Inventor 罗元张毅邵帅李敏胡章芳徐晓东
Owner CHONGQING UNIV OF POSTS & TELECOMM
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