Intelligent wheelchair capable of autonomously opening the door and method for autonomously opening the door

Abstract

The invention discloses an intelligent wheelchair capable of opening a door independently. The intelligent wheelchair comprises an intelligent wheelchair body, a multi-degree of freedom mechanical arm, a multi-axial force / torque sensor, a camera, a mechanical tong and a mechanical arm controller, wherein the multi-degree of freedom mechanical arm is arranged beside the intelligent wheelchair body, and the multi-axial force / torque sensor is arranged at the tail end of the multi-degree of freedom mechanical arm; the mechanical tong is fixedly connected to the multi-axial force / torque sensor; the camera is mounted at the tail end of the mechanical arm and is located above the mechanical tong; the mechanical arm controller is respectively connected with a control system of the intelligent wheelchair body, the multi-degree of freedom mechanical arm, the multi-axial force / torque sensor, the camera and the mechanical tong; the invention also provides an independent door opening method of the intelligent wheelchair. The intelligent wheelchair disclosed by the invention is operated simply and fast, overcomes the shortage that the traditional mechanical arm with a fixed base is limited by space and cannot open doors with relatively big width, and brings great convenience for the disabled.

Description

technical field [0001] The invention relates to the field of intelligent wheelchairs and the field of mechanical arm control, in particular to an intelligent wheelchair capable of completing door-opening tasks and an autonomous door-opening method thereof. Background technique [0002] Wheelchairs are an important means of transportation for people with limited mobility and physical disabilities. With the acceleration of population aging, this auxiliary tool has become more and more important. However, as people are more and more involved in the operation of objects or tools, Such as taking a water cup, opening and closing doors and windows, traditional wheelchairs can no longer meet the needs. Moreover, many operating objects are often restricted motion mechanisms (such as doors, drawers, switches, etc.), and due to the uncertainty of mobile positioning and target recognition, the motion models of such mechanisms are often uncertain or even unknown. Due to the particularit...

AI Technical Summary

Problems solved by technology

[0008] 1. The model of the door needs to be known accurately, or auxiliary equipment needs to be installed in advance

[0009] 2. The base of the robotic arm cannot be moved, so the operating space is limited

There are two traditional door-opening algorithms, one needs to model the door in advance, and then plan the path to open the door, limited by the modeling method, the number and types of doors that can be accurately modeled and successfully opened are limited; if force / The method of torque sensor to open the door is limited by the fixed base, and the operating space of the mechanical arm is limited, so there is no high success rate of door opening

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