Self-localization method of intelligent wheelchair in corner areas

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...

AI Technical Summary

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 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 distance between the wheelchair and the corner is not accurate enough to make the processor plan. Take the correct corner route

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