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Intelligent wheelchair-bed connection control method based on vision and ultrasonic combination

An ultrasonic and wheelchair technology, applied in two-dimensional position/channel control and other directions, can solve the problems of increasing the complexity of sensor design, reducing the accuracy of docking, and the existence of extraction errors, achieving the effect of simple design, simple production, and obvious features

Inactive Publication Date: 2017-09-15
BEIJING UNIV OF TECH
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Problems solved by technology

The camera used in this method requires the installation of optical filters, which adds complexity to the sensor design
In addition, the extraction of infrared artificial landmarks is not only complex in algorithm but also has extraction errors, which will reduce the accuracy of docking

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  • Intelligent wheelchair-bed connection control method based on vision and ultrasonic combination
  • Intelligent wheelchair-bed connection control method based on vision and ultrasonic combination
  • Intelligent wheelchair-bed connection control method based on vision and ultrasonic combination

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Embodiment Construction

[0022] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0023] The present invention proposes a method based on the combination of visual guidance and ultrasonic sensors to complete berth docking. The docking schematic diagram is as follows figure 1 shown. The invention fixes the prepared artificial landmarks on the auxiliary bed, and the wheelchair can find the artificial landmarks in the field of view of the camera through autonomous movement. The industrial computer controls the wheelchair to move to the auxiliary bed according to the position and attitude angle of the wheelchair relative to the bed calculated by the vision system. When the distance calculated by the vision system from the wheelchair to the artificial landmark is less than the set threshold, the industrial computer cannot collect data from the camera due to the angle of view of the camera. Artificial landmarks are recognized i...

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Abstract

The present invention discloses an intelligent wheelchair-bed connection control method based on vision and ultrasonic combination. The method comprises the following steps: the step 1: performing camera calibration to obtain the internal reference and distortion elimination coefficient of the camera; the step 2: collecting the image of the left side of a wheelchair through a vision system, and extracting an artificial landmark in the image; the step 3: respectively establishing a world coordinate system, a camera coordinate system and a wheelchair coordinate system on the artificial landmark, the camera and the wheelchair; the step 4: calculating the position and the deflection angle of the wheelchair relative to the artificial landmark according to the established coordinate systems; and the step 5: employing the ultrasonic wave to complete connection when the distance of the wheelchair relative to the artificial landmark is smaller than a setting threshold. According to the technical scheme, the intelligent wheelchair-bed connection control method based on the vision and ultrasonic combination does not need special design of a bed body structure and a sensor so as to reduce the complexity of the algorithm and have certain robustness and validity.

Description

technical field [0001] The invention belongs to the field of vision and motion control, in particular to an intelligent wheelchair bed docking control method based on the combination of vision and ultrasonic waves. Background technique [0002] The rapidly growing aging population and the care of the sick and disabled has become an important issue for society. In the care of the elderly and the disabled, the elderly and the disabled will be transferred from the bed and the wheelchair many times, so an integrated system of beds and chairs is required. The intelligent wheelchair bed system can not only reduce the workload of nursing staff, but also help to enhance the independent living ability of the elderly and the disabled. This is of great significance to solve the nursing problems of the elderly and the sick. [0003] There are docking problems when the wheelchair and bed are combined. Different wheelchair bed structures and sensors also have different automatic dockin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 李秀智梁兴楠贾松敏单吉超
Owner BEIJING UNIV OF TECH
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