分体式老年人／残疾人智能室内助动系统的设计与实现

Design and implementation of a split intelligent indoor auxiliary system for the aged and handicapped

针对老年人／残疾人长期卧床以及椅床移位护理强度大的问题，采用分体式设计实现了一种具有体位变换、轮椅助动和自主床椅对接功能的智能室内助动系统。对各姿态下轮椅的尺寸设计和受力情况进行了理论计算和分析，据此实现了体位变换控制；对于狭窄空间下轮椅与床体的自动对接，给出了一种基于视觉伺服的自主对接控制算法：首先通过检测特定标志物识别床体，确定轮椅相对于床体坐标系的位姿；然后依据视觉反馈和里程计航迹推演进行直线跟踪，控制轮椅到达床体中心。实验证明了上述系统及其控制算法的可行性和有效性。

A separable intelligent indoor movement-aided system composed of an intelligent wheelchair and a U-shaped bed was designed and implemented for the aged and handicapped. The system has the functions of posture alteration, wheelchair aiding, and autonomous bed-chair docking. The intelligent wheelchair can alter its posture among sitting, lying and standing smoothly and safely, while it can be docked into the U-shaped bed automatically and reconfigured to a flat stationary bed. The method for design of some key mechanical sizes was derived, and their influences on the wheelchair＇ s force-bearing under different postures was analyzed, which were used to guide the im- plementation of the wheelchair＇ s posture-alteration control. For the docking between the wheelchair and the U- shaped bed, an autonomous docking control strategy was presented based on visual servo. First, the U-shaped bed was identified and its relative pose to the wheelchair was localized according to some Euclid features of specific symbol. Then, the line trajectory tracking was performed to make the wheelchair dock into the bed precisely by using vision feedback and dead reckoning simultaneously. The prototype of the movement-aided system was given, and the experiments validated the feasibility and effectiveness of the designing method and the control algorithm.