基于VLSR方法的老年人动力轮椅自定位技术研究  

Research on Self positioning Technology of Elderly Power Wheelchairs Based on VLSR Method

作　　者：刘莹[1] LIU ying(Shaanxi Institute of Technology,Xi’an 710300,China)

机构地区：[1]陕西国防工业职业技术学院,西安710300

出　　处：《自动化与仪器仪表》2024年第5期241-245,共5页Automation & Instrumentation

基　　金：2017年陕西国防工业职业技术学院专项教育研究课题《高职老年服务人才专业群建设研究》(GZY1728)。

摘　　要：老年人动力轮椅是一种重要的辅助设备,可以帮助老年人进行日常活动。然而,由于老年人的身体状况和运动能力的限制,他们可能会在使用轮椅时出现迷失或迷路的情况。因此,研究基于矢量线段关系方法,通过使用激光雷达和视觉传感器来实现老年人动力轮椅的自动定位。研究首先将自定位和矢量线段匹配进行研究,然后再利用矢量线段关系对定位信息进行计算,最后利用仿真实验与其他方法进行对比,来验证方法的定位能力。结果表明,矢量线段关系法的均方根误差平均值为5.13%,重叠率波动在0.6-0.78之间,在10米的运行范围内,定位耗时平均值为5.8 s。这说明基于矢量线段关系法的老年人动力轮椅自定位技术具有更高的定位精度和鲁棒性。Power wheelchairs for the elderly are an important assistive device that can assist them in their daily activities.However,due to the limitations of the physical condition and exercise ability of elderly people,they may experience getting lost or lost while using wheelchairs.Therefore,research is based on vector line segment relationship methods to achieve automatic positioning of elderly powered wheelchairs through the use of LiDAR and visual sensors.The research first focuses on self-localization and vector line segment matching,and then uses VLSR to calculate the positioning information.Finally,simulation experiments are used to compare with other methods to verify the localization ability of the method.The results show that the average root mean square error of the VSLR method is 5.13%,and the overlap rate fluctuates between 0.6 and 0.78.Within the operating range of 10 meters,the average positioning time is 5.8 seconds.This indicates that the VLSR based self-localization technology for elderly powered wheelchairs has higher positioning accuracy and robustness.

关 键 词：VLSR 老年人 动力轮椅 自定位 传感器 

分 类 号：TP399[自动化与计算机技术—计算机应用技术]