Development of Navigation Support System for the Powered Wheelchair

电动轮椅导航支持系统的研制

• 批准号: 11680858
• 负责人: YAMADA Hiroaki
• 金额: $ 0.64万
• 依托单位: University of East Asia
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1999
• 资助国家: 日本
• 起止时间: 1999 至 2000
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-11680858/
• 关键词: Autonomous Mobile robot; Robot Vision; Sensor Fusion; Image Analysis; Obstacle Avoidance; Autonomous Move; 移動ロボット; 危険回避; 超音波センサリング; 2次元超音波センサアレイ; 環境認識; 画像処理

This research proposed a method to improve the safety of the outdoor powered wheelchair, and developed a prototype intelligent powered wheelchair. The prototype system is designed and developed based on the sensor fusion technology. The system employs GPS, 16 ultrasonic sensors, video camera and operation sensing switches. 16 ultrasonic sensors are divided into two groups, USSR (ultrasonic sensor semi-ring) and USA (ultrasonic sensor array). Each group consists of 8 ultrasonic sensors. Let S_j represent the j-th ultrasonic sensor, S_0, S_1, ..., S_7 are implemented on USSR, and S_8, S_9, ..., S_<15> on USA.The whole system works on manual mode (M-mode) and autonomous mode (A-mode).As soon as the user holds the handle, the system turns into the manual mode. In this mode, the user operates the wheelchair directly by controlling the handle and power switch. The system watches whether the user's operation is appropriate or not, and provide the helpful information by the voice message from … More the speaker. If the system detects that the user's operation is dangerous, it will call the user's attention and make an emergency stop. For example, if the traffic light is red and the user tries to move continuously, or if the user's operation will cause collision with an obstacle, the system will bring to an emergency stop and inform the user by the voice message from speaker.When the user releases the handle, the system turns into autonomous mode. In this mode, the rough route map is created by GPS and is provided to the system. The system calculates the moving direction, determines the turn points, and performs the self-localization according to this information and the up-dated route map. And the powered wheelchair moves toward the destination autonomously. This mainly includes : detecting the obstacles and performing the obstacle avoidance, detecting the pedestrian crossing at the intersection and catching the change of the traffic light and determining the correct operation, according to the information from GPS, USSR, USA, and video camera. Less

本研究提出一种提高户外电动轮椅安全性的方法，并开发出一台智能电动轮椅样机。设计并开发了基于传感器融合技术的原型系统。该系统采用了全球定位系统、16个超声波传感器、摄像机和操作传感开关。16个超声波传感器分为两组，苏联（超声波传感器半环）和美国（超声波传感器阵列）。每组由8个超声波传感器组成。令S_j表示第j个超声波传感器，S_0，S_1，.，S_7是在苏联上实现的，S_8，S_9，.，整个<15>系统工作在手动模式（M模式）和自主模式（A模式）。只要用户握住手柄，系统就会进入手动模式。在这种模式下，用户通过控制手柄和电源开关直接操作轮椅。系统观察用户的操作是否合适，并通过语音消息提供有用的信息， ...更多信息 演讲者如果系统检测到用户的操作有危险，它会提醒用户注意并紧急停车。例如，如果交通灯是红色的，而用户试图继续移动，或者如果用户的操作将导致与障碍物碰撞，系统将紧急停止并通过扬声器的语音消息通知用户。当用户释放手柄时，系统将进入自主模式。在该模式中，粗略路线地图由GPS创建并提供给系统。该系统计算移动方向，确定转向点，并根据这些信息和更新的路线地图进行自定位。电动轮椅可以自动向目的地移动。这主要包括：根据来自GPS、苏联、美国和摄像机的信息，检测障碍物并执行避障，检测交叉口处的行人穿越并捕捉交通灯的变化并确定正确的操作。少

项目成果

F.H.Yao,G.F.Shao,H.Yamada,K.Kato: "The Visual Feedback System for an Outdoor Intelligent Powered Wheelchair"Proceedings of the 32nd ISR (International Symposium on Robotics). (2001)

F.H.Yao，G.F.Shao，H.Yamada，K.Kato：“户外智能电动轮椅的视觉反馈系统”第32届ISR（国际机器人研讨会）论文集。

F.H.Yao, G.F.Shao, H.Yamada, K.Kato: "The Visual Feedback System for an Outdoor Intelligent Powered Wheelchair"Proceedings of the 32nd ISR (International Symposium on Robotics). 19-21 (2001)

F.H.Yao、G.F.Shao、H.Yamada、K.Kato：“户外智能电动轮椅的视觉反馈系统”第 32 届 ISR（国际机器人研讨会）论文集。