高技术通讯2012，Vol.22Issue(10)：1056-1063,8.DOI:10.3772/j.issn.1002-0470.2012.10.009
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
摘要
Abstract
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 implementation 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.关键词
残疾人助动系统/智能轮椅/体位变换/自动对接/视觉伺服Key words
auxiliary system for the handicapped, intelligent wheelchair, posture alteration, autonomous docking, visual servo引用本文复制引用
任亚楠,邹伟,高舒,叶爱学,马岩,原魁..分体式老年人/残疾人智能室内助动系统的设计与实现[J].高技术通讯,2012,22(10):1056-1063,8.基金项目
863计划(2008AA040209,2008AA040204)和国家自然科学基金(61075093)资助项目. （2008AA040209,2008AA040204）
