一种电动轮椅的智能路径规划及避障系统

Abstract

本实用新型涉及一种电动轮椅的智能路径规划及避障系统，包括安装于电动轮椅上的多传感器感知模块、主控控制器、电机驱动控制模块、电源管理模块、故障反馈模块和遥控模块，多传感器感知模块包括激光雷达、超声传感器组、IMU及编码器，激光雷达通过减震支架连接车身，超声传感器设置于车身四角，IMU位于底盘中心，编码器安装于驱动轴端，主控控制器分别与上述感知模块、电机驱动控制模块、电源管理模块及故障反馈模块连接，电机驱动控制模块连接双直流无刷电机，故障反馈模块包括显示屏、蜂鸣报警器及状态指示灯，该系统可实现路径规划、障碍检测、驱动控制和故障反馈。

Claims

1. An intelligent path planning and obstacle avoidance system for an electric wheelchair, characterized in that, This includes an electric wheelchair, which is jointly controlled by a multi-sensor sensing module, a main controller, a motor drive control module, a power management module, and a fault feedback module. The multi-sensor sensing module is fixedly installed at the front, rear and sides of the electric wheelchair. The multi-sensor sensing module includes a lidar, an ultrasonic sensor group, an IMU and an encoder. The ultrasonic sensor group contains 4 sensors. The lidar is connected to the vehicle body through a shock-absorbing bracket. The ultrasonic sensors are horizontally arranged facing the outside of the wheelchair. The IMU is integrated into the center of the wheelchair chassis. The encoder is coaxially installed at the drive shaft end of the electric wheelchair. The main controller is connected to the multi-sensor sensing module through multiple IO pins, ADC pins and communication interfaces to receive and process sensor data. The motor drive control module is connected to the PB14 and PB15 ports of the main controller and is used to receive PWM commands output by the main controller to drive the dual brushless DC motors of the electric wheelchair. The power management module is connected to the PB0 port of the main controller and includes a battery pack, a step-down chip, and a voltage regulator chip, used to provide adaptive voltage for each module; The fault feedback module is connected to the PC0 and PC1 ports of the main controller and includes a display screen, a buzzer alarm, and red / yellow status indicator lights, used to monitor and provide feedback on system fault status. 2.The intelligent path planning and obstacle avoidance system of the electric wheelchair of claim 1, wherein: The lidar is designed with an IP65 waterproof rating and is connected to the CAN1 interface of the main controller via a CAN bus for collecting point cloud data of long-distance obstacles. 3.The intelligent path planning and obstacle avoidance system of the electric wheelchair of claim 1, wherein: The four ultrasonic sensors are respectively installed at the four corners of the wheelchair and connected to the main controller via GPIO pins to supplement the detection of obstacles in near blind spots. 4.The intelligent path planning and obstacle avoidance system of the electric wheelchair of claim 1, wherein: It also includes a remote control module, which includes a remote controller and a remote control receiver. The remote controller is equipped with an obstacle avoidance start / stop button and a manual / automatic switching button. The remote control receiver is connected to the PC6 and PC7 ports of the main controller to receive remote control signals. 5.The intelligent path planning and obstacle avoidance system of electric wheelchair of claim 1, wherein: The motor drive control module supports PWM speed regulation and has a maximum output current of 3A. Turning can be achieved by adjusting the speed difference between the two motors through the main controller. 6.The intelligent path planning and obstacle avoidance system of electric wheelchair of claim 1, wherein: The power management module can step down the 12V battery voltage to 5V to power the lidar and the ultrasonic sensor. The power management module can also regulate the 5V voltage to 3.3V to power the main controller, the IMU and the encoder. Each module's power input terminal is connected in parallel with a 10μF electrolytic capacitor and a 100nF ceramic capacitor for filtering. 7.The intelligent path planning and obstacle avoidance system of electric wheelchair of claim 1, wherein: The display screen of the fault feedback module is connected to the SPI interface of the main controller and is used to display the wheelchair speed, remaining power, and fault codes. The buzzer alarm will sound continuously when there is a malfunction, and the red status indicator light will remain on. In the event of a minor malfunction, the yellow status indicator light flashes at 1Hz, and the buzzer alarm sounds intermittently. 8.The intelligent path planning and obstacle avoidance system of electric wheelchair of claim 1, wherein: The IMU integrates a three-axis accelerometer and a three-axis gyroscope, and is connected to the PB6 and PB7 ports of the main controller via an I2C interface. It integrates with the encoder data to achieve attitude drift calibration.

9. An electrically powered wheelchair, characterised in that The intelligent path planning and obstacle avoidance system of the electric wheelchair as claimed in any one of claims 1-8 is installed on a wheelchair body.

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