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Varnostni sistem za preprečevanje trkov pri električnem invalidskem vozičku
ID Ilić, Anže (Author), ID Vrabič, Rok (Mentor) More about this mentor... This link opens in a new window, ID Butala, Peter (Co-mentor)

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PID: 20.500.12556/rul/3a130f38-237d-4500-aab6-f84b8910c01c

Abstract
V magistrskem delu je predstavljen razvoj varnostnega sistema za preprečevanje trkov med invalidskim vozičkom in okoliškimi ovirami. Predstavljene so obstoječe rešitve in teoretično ozadje delovanja ter področja uporabe svetlobnih in ultrazvočnih senzorjev za merjenje razdalje. Po opravljeni medsebojni primerjavi senzorjev z vidika natančnosti so izbrani ultrazvočni senzorji, katerih vrednost izmerjene razdalje se je najbolj približala dejanski. Za zagotavljanje fizičnih povezav med zunanjim krmilnim modulom vozička, smernimi tipkami, mikrokrmilnikom Arduino Micro ter že obstoječim krmilnikom, ki omogoča upravljanje vozička z jezikom, je izdelano vezje s pripadajočimi povezovalnimi elementi. Zadnji korak predstavlja razvoj krmilnega algoritma kot rezultat odločitvenih pravil, določenih s tehniko strojnega učenja. Mikrokrmilnik na podlagi izmerjenih razdalj vseh senzorjev določi in hkrati na zaslonu grafično prikaže, v katero smer je premik dovoljen oz. v katero ni.

Language:Slovenian
Keywords:električni invalidski voziček, ultrazvočni senzor, merjenje razdalje, izogibanje oviram, strojno učenje, krmiljenje vozička, razvojno okolje, varnostni sistem
Work type:Master's thesis/paper
Organization:FS - Faculty of Mechanical Engineering
Year:2017
PID:20.500.12556/RUL-98465 This link opens in a new window
Publication date in RUL:03.12.2017
Views:1591
Downloads:578
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Secondary language

Language:English
Title:A collision prevention safety system for an electric wheelchair
Abstract:
In the master thesis, development of a safety system for the prevention of collisions between electric wheelchair and surrounding obstacles is presented. The existing solutions and theoretical background of the operation and the scope of use of light and ultrasonic sensors for distance measuring are presented. After performing a comparison between the sensors in terms of accuracy, ultrasonic sensors are selected, because their value of the measured distance is the most similar to the actual one. To provide physical connections between the external control module of the wheelchair, arrow keys, the Arduino Micro microcontroller and the existing controller, which allows operating with the tongue, a printed circuit board is developed with the associated connecting cables. A development of the control algorithm as a result of decision rules is determined by the machine learning technique. On the basis of the measured distances from all sensors, the microcontroller determines and simultaneously graphically displays on the screen in which direction the movement is permitted and in which is not.

Keywords:Electric wheelchair, Ultrasonic sensor, Distance measurement, Collision avoidance, Machine learning, Wheelchair control, Development environment, Safety system

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