인공지능형 전동휠체어의 제어기 설계 및 구현에 관한 연구

Abstract

We designed a controller by applying an artificial intelligence to an electric wheelchair, which is generally used by the disabled, them to use the wheelchair conveniently.

In this paper, we applied a fuzzy logic, one of artificial intelligences, to a joystick and a voice recognition module, and implemented a control of wheelchair movements to develop an artificial intelligent electric wheelchair control system. Also, in order to change the speed of a wheelchair, depending on the sitters weight, we attached an encoder to the motor to receive signals, improving the non-linear changes into linear ones resulting from the weight.

The total system is an electric wheelchair basic plant, and we used 16-bit microprocessor 80C196KC in a control section to control the motor speed by joystick inputs. We also controlled the motor using voice recognition commands.

In the voice recognition, we used a voice recognition module, where TMS320C33 is attached, to send the recognized data to PIC, which sends data to 80C196KC to control the wheelchair. Furthermore, we used an ultrasonic wave sensor to sense obstacles, guaranteeing wheel chairs stability.