Intelligent wheelchair based on multiple constraint conditions and dynamic sharing control method and system

[0051] Example 1:

[0052] Such as figure 1 As shown, this embodiment provides a smart wheelchair dynamic sharing control method based on multi-constrained conditions, including the following steps:

[0053] Step 1, based on the monitoring data acquired during the wheelchair operation, the integrated multifaceted conditions dynamically acquire the corresponding weight coefficient; multi-way constraints include the safety distance of the wheelchair, the fatigue of the user's neck muscle and the headrest Smoothing of the trajectory.

[0054] Step 1.1, obtain the shortest distance D of the current wheelchair is based on the monitoring data, dynamically update the security distance factor weight coefficient k d The expression is as follows:

[0055]

[0056] When the user controls the wheelchair is about to hit the obstacle, D is less than the shortest safety distance 0.2m, k d 0, the user hands over the control, the smart wheelchair autonomous avoidance. The farther the wheelchair is,

[0074] Example 2:

[0075] Such as figure 2 As shown, the implementation provides a smart wheelchair dynamic sharing control system based on multi-constraint conditions, including:

[0076] Autonomous navigation control unit for generating autonomous navigation control instructions;

[0077] User headrest control unit for generating headrest control instructions;

[0078] The human machine sharing control unit is used to generate a shared control instruction based on any of the multi-constraint-based intelligent wheelchair dynamic sharing control method based on any one of the multi-constrained conditions, and controls the wheelchair action by sharing control instructions based on any of the intelligent wheelchair dynamic sharing control methods based on multi-constrained conditions. .

[0079] Example 3:

[0080] Such as image 3 As shown, this implementation provides a smart wheelchair, including:

[0081] Wheelchair main structure and an accessory structure disposed in wheelchair main structures;

[0082] The accessory structure includes depth camera 1 and PC controller 2

[0083] The depth camera 1 is disposed in front of the user's head for acquiring the depth image of the user's head; the PC controller 2 acquires the user's head posture according to the depth image of the user's head, thereby generating a headrest control command;

[0084] The PC controller 2 is installed in front of the user, used to obtain the user's interaction command, thereby generating an automatic navigation control command;

[0085] The PC controller 2 generates a shared control instruction based on the above-described intelligent wheelchair dynamic sharing control method based on multi-constrained conditions based on the above-described intelligent wheelchair dynamic sharing control met