| 华谦,吴全玉,张煜,孙玉彬,潘玲佼,陶为戈.多模态交互智能轮椅控制系统的研究[J].井冈山大学自然版,2023,44(4):90-96 |
| 多模态交互智能轮椅控制系统的研究 |
| RESEARCH ON THE CONTROL SYSTEM OF MULTIMODAL INTERACTIVE INTELLIGENT WHEELCHAIR |
| 投稿时间：2022-09-18 修订日期：2022-11-30 |
| DOI：10.3969/j.issn.1674-8085.2023.04.014 |
| 中文关键词: 智能轮椅 语音交互 电机驱动器 触屏控制 交互系统 |
| 英文关键词: intelligent wheelchair voice interaction motor drive touch screen control interactive system |
| 基金项目:国家自然科学基金青年项目(62001196)；江苏省重点研发计划项目(SBE2020648)；常州市社会发展项目(CE20225045)；江苏理工学院研究生实践创新计划项目（XSJCX21-24） |
| 作者 | 单位 | | 华谦 | 江苏理工学院 电气信息工程学院, 江苏, 常州 213001 | | 吴全玉 | 江苏理工学院 电气信息工程学院, 江苏, 常州 213001 | | 张煜 | 江苏理工学院 电气信息工程学院, 江苏, 常州 213001 | | 孙玉彬 | 江苏理工学院 电气信息工程学院, 江苏, 常州 213001 | | 潘玲佼 | 江苏理工学院 电气信息工程学院, 江苏, 常州 213001 | | 陶为戈 | 江苏理工学院 电气信息工程学院, 江苏, 常州 213001 |
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| 中文摘要: |
| 多模态交互智能轮椅是在现有的摇杆电动轮椅基础上，新增触摸屏和语音控制方式，提高了轮椅的控制便捷性和智能性。整个系统采用模块化思想，将驱动电路、主控电路和保护电路进行有机结合，对轮椅电机驱动器进行设计和改进，实现了轮椅调速和变向功能。交互系统采用双主控芯片，触屏交互采用STM32F103ZET6主控芯片，在移植μC/OS-Ⅲ实时操作系统和emWin图形界面库的基础上进行交互界面设计，并以4.3寸电容屏为显示和触摸终端。语音交互采用LD3320模块，通过串口与STM32F103ZET6通信。摇杆控制模块通过与驱动器主控相连接完成交互。电机驱动器以STM32F103RCT6为主控，主要任务是摇杆ADC的采集、电机调速PWM的产生和电机电流的检测。两个主控之间通过串口通信，经验证，系统显示界面友好、性能可靠、运行稳定且实时性好。 |
| 英文摘要: |
| Basing on the existing rocker electric wheelchair, touch screen and voice control methods are added to improve the control convenience and intelligence of the multi-mode interactive intelligent wheelchair. Adopting the idea of modularization, the drive circuit, the main control circuit and the protection circuit are organically combined, and the motor driver of the wheelchair are designed and improved, which realize the function of speed regulation and direction change of the wheelchair. This interactive system adopts dual main control chips, and the touch screen interaction adopts STM32F103ZET6 main control chip. The interactive interface is designed on the basis of transplanting the μ C/OS-Ⅲ real-time operating system and emWin graphical interface library, and the 4.3-inch capacitive screen is used as the display and touch terminal to complete the interaction task. The voice interaction adopts the LD3320 module, which communicates with the STM32F103ZET6 through the serial port to complete the interaction. The joystick control module completes the interaction by connecting with the driver master. The motor driver is controlled by STM32F103RCT6, and the main tasks are the acquisition of the joystick ADC, the generation of the motor speed regulation PWM and the detection of the motor current combined with the motor drive circuit. The two main controllers communicate through serial ports. It is proved that the system has friendly interface, reliable performance, stable operation and good real-time response. |
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