基于CAN总线的智能康复轮椅数据采集系统设计  

Design of Intelligent Rehabilitation Wheelchair Data Acquisitio n System Based on CAN Bus

作　　者：钱惠祥[1] 钱金法[1] 朱长卿[1] 吴超[1] QIAN Huixiang;QIAN Jinfa;ZHU Changqing;WU Chao(Changzhou Vocational Institute of Mechatronic Technology,Changzhou,Jiangsu Province,213164 China)

机构地区：[1]常州机电职业技术学院,江苏常州213164

出　　处：《科技创新导报》2021年第2期72-76,共5页Science and Technology Innovation Herald

基　　金：江苏省科技计划项目《康复轮椅智能化关键技术应用研究》支持(项目编号:BE2018648)。

摘　　要：本系统以STM32F407ZGT6微控制器为核心,采用可靠性高、实时性强和灵活性高的CAN总线数据采集方案。主要采集智能康复轮椅上超声波传感器、激光传感器、MPU6050六轴传感器、压力传感器及电池电压的实时数据。并对采集到的实时数据进行算法优化处理,由串口转CAN通信模块上传至CAN总线。上位机可根据CAN总线上实时环境数据对康复轮椅进行智能控制。与目前智能轮椅相比,主要特点是增加了颈椎智能牵引技术,多传感器、多CAN节点的数据采集功能。每个传感器模块单独采用一个CAN节点进行数据采集,提高了数据传输实时性、可靠性、安全性。并采用串口转CAN模块方便了系统的优化、维护和轮椅功能的升级。This system takes STM32F407ZGT6 microcontroller as the core,mainly collects the real-time data of ultrasonic sensor,laser sensor,MPU6050 six-axis sensor,pressure sensor and battery voltage on the intelligent wheelchair,and carries on the optimized processing to the collected data,and then uploads it to CAN bus from serial port to CAN communication module.The upper computer can control the wheelchair intelligently according to the real-time environment data.This design mainly focuses on the modular design technology of intelligent rehabilitation wheelchair components,intelligent obstacle avoidance and overcoming technology,integrated intelligent cervical traction technology,remote monitoring and positioning technology and other key technologies,so as to develop modular,multi-functional,personalized,low-cost intelligent rehabilitation wheelchair products.

关 键 词：CAN总线 智能轮椅 STM32F407ZGT6 

分 类 号：TP274.2[自动化与计算机技术—检测技术与自动化装置]