A multi-sensor-based man-machine interface for a walking-assisting robot and its obstacle avoidance control method

Abstract

The present invention discloses a multi-sensor-based walking-aided robot man-machine interface and an obstacle avoidance control method thereof. The man-machine interface comprises a pressure acquisition module, an obstacle detection module and a controller. The pressure acquisition module is used for detecting an acting force applied onto the head part of an operator. The obstacle detection module is used for detecting surrounding obstacles. The controller is used for calculating the speed of a walking-aided robot based on data acquired by the pressure acquisition module and data detected by the obstacle detection module. Meanwhile, the controller controls the walking-aided robot to facilitate the walking and avoid obstacles based on the speed of the walking-aided robot. The obstacle detection module is composed of a laser sensor and a high-speed USB data line and is capable of detecting surrounding obstacles. The controller is in communication with the pressure acquisition module and the obstacle detection module and is used for analyzing and calculating the acquired data to obtain an appropriate speed, then sending the speed to an external communication interface and guiding the operation of the operator so as to ensure the control security. The man-machine interface and the obstacle avoidance control method thereof are accurate to control, high in real-time performance, strong in portability and low in cost.

Description

technical field [0001] The invention belongs to the field of human-computer interaction and rehabilitation aids, and more specifically relates to a multi-sensor-based human-machine interface of a walking aid robot and an obstacle avoidance control method thereof. Background technique [0002] As a country with a large population, my country has about 150 million elderly people and 82.96 million disabled people, involving 260 million family members. According to the World Health Organization, people over the age of 60 account for more than 10% of the total number of people in the society, or people over the age of 65 account for more than 7% of the total number of people in the society. According to statistics in 2000, the number of people over 60 years old in my country The population coefficient is 10.18%. my country has entered an aging society. By 2020, the elderly in my country will reach more than 15%. The health problems of the elderly will become social problems. As m...

AI Technical Summary

Problems solved by technology

As far as the current sensing device is concerned, one solution is to use an expensive six-dimensional force sensor, which undoubtedly increases the cost of the walking-assisting robot; the other is to use multiple one-dimensional force sensors to form a sensor array, and pass the corresponding data Calculate with the designed formula to judge people's movement intention

This solution can greatly reduce the cost of the human-machine interface, but its research is still in its infancy, and the existing designs have defects of various degrees, and cannot effectively collect force data in relevant directions

[0004] At the same time, most of the users of walking-assisting robot systems are elderly people, who generally have poor eyesight and are more likely than ordinary people to operate the walking-assisting robot incorrectly, which may cause safety hazards

However, most of the current walking assistant robot systems lack safety mechanisms

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