| 摘 要: 随着我国人口老龄化的日益加剧，为帮助高龄老年人和身体残疾人士正常出行，文章设计基于姿态解析算法、增量型PI算法的多功能智能轮椅。仿真轮椅以STM32F103ZET6为核心处理器，通过手势的姿态解析算法，运用老年人的手势配合手势识别技术原理，结合多个模块及多传感器融合实现手势控制轮椅的移动和转向，自动避障、GPS定位信息的实时传输、一键呼救、意外情况录像功能，增量型PI算法的输出是上一次输出的增加值，能使轮椅平稳行驶。结果表明，姿态解析算法提高了轮椅对手势的识别率，增量型PI算法提高了轮椅行驶的平稳度，模块化的设计思想满足轮椅的安全、智能化要求，能帮助行动不便的残疾人士和高龄老年人正常出行。 |
| 关键词: 智能轮椅；姿态解析算法；手势识别；多传感器融合 |
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中图分类号: TP510
文献标识码: A
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| 基金项目: 山东省大学生创新创业训练计划项目(202113160504). |
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| Design of Intelligent Wheelchair based on Attitude Algorithm |
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ZUO Taihu, ZHANG Yuqing, BI Shuang, DING Jian
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(Department of Mechanical and Electronic Engineering, Qingdao Technological University, Linyi 276000, China)
150518995@qq.com; 2697146870@qq.com; 1458387316@qq.com; 526723605@qq.com
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| Abstract: With the increasing aging of the population in China, in order to help the elderly and the physically disabled to travel normally, this paper proposes to design a multi-functional intelligent wheelchair based on attitude algorithm and incremental PI algorithm. STM32F103ZET6 is used as the core processor for the simulated wheelchair. With attitude algorithm of gestures and gesture recognition technology of the elderly's gestures, multi-module and multi-sensor fusion realizes the gesture control of wheelchair movement and steering, automatic obstacle avoidance, real-time transmission of GPS positioning information, one button call for help, and accidental video recording. The output of incremental PI algorithm is the added value of the last output, which can make the wheelchair run smoothly. The results show that the attitude algorithm improves the recognition rate of wheelchair gesture, the incremental PI algorithm improves the smoothness of wheelchair driving, and the modular design idea meets the requirements of wheelchair safety and intelligence, which helps disabled people and elderly people with mobility disabilities to travel normally. |
| Keywords: intelligent wheelchair; attitude algorithm; gesture recognition; multi-sensor fusion |
