| 摘要: | 本論文研發出一種創新的行動輔助解決方案，期盼引領未來的行動輔助技術—¬智慧助步車，這款經過加裝改造的助步車為協助行動受限的年長者設計，使其能夠安全享受戶外活動。智慧助步車適合對象主要為年長者康復期患者，並具備一定的行走能力，但需要額外的支撐來預防跌倒，旨在提供更高效、更可靠的行動支持。智慧助步車首先利用光學雷達系統獲取操作者的位置資訊，光學雷達系統掃描並捕捉使用者左右腿的中心位置，從而能夠精確計算年長者在步伐交替運動時的數據，並經過平滑處理與線性擬合後，得出更為精準的行走趨勢數據，為後續的控制提供可靠的基礎。此外，系統還基於九軸感測器提供的數據進行分析，即時監控操作狀態並調整助步車的方向控制。九軸感測器能夠精確測量加速度、角速度和磁場強度，從而提供全面的動態信息，這些數據與光學雷達系統的數據相結合，使得系統能夠對使用者的行走狀態進行綜合分析，確保助步車能夠靈活應對各種行走情況。為實現兩側輪轂馬達的同步運行和精確控制，系統即時監控兩側輪轂馬達的霍爾訊號，並計算馬達轉速差。根據這些數據，設計兩種不同的模糊邏輯控制系統。第一個模糊邏輯系統基於使用者的平均間距和行走趨勢距離變化率進行模糊推理，生成初步控制信號。第二個階層式模糊邏輯系統以第一個模糊邏輯系統的輸出為輸入，結合馬達轉速差數值進行進一步推論，從而實現對兩個輪轂馬達的精確控制。這兩種模糊控制系統的結合，確保智慧助步車能夠即時調整兩側馬達的速度，使助步車始終保持在一個近乎直線行走的穩定狀態，通過這種多傳感器融合與模糊控制理論的應用，智慧助步車能夠提供精確、可靠的行動支持，實現有效的行動輔助功能。;This thesis presents the development of an innovative mobility aid solution aimed at advancing future assistive technologies—the Intelligent Rollator. This modified rollator is designed to assist elderly individuals with mobility limitations, enabling them to safely enjoy outdoor activities. The primary target users are elderly patients in rehabilitation with sufficient walking ability who require additional support to prevent falls, providing them with more efficient and reliable mobility assistance.The Intelligent Rollator utilizes an optical radar system to acquire the user′s positional information. The system scans and captures the center position of the user′s legs, enabling precise calculation of walking data during gait alternation. This data is then smoothed and linearly fitted to provide accurate walking trend data, forming a reliable foundation for control mechanisms. Additionally, the system analyzes data from a nine-axis sensor, which provides real-time monitoring of operational status and adjusts the rollator’s directional control. The nine-axis sensor measures acceleration, angular velocity, and magnetic field strength, offering comprehensive dynamic information. By integrating data from the optical radar and the nine-axis sensor, the system performs a comprehensive analysis of the user′s walking status, ensuring the rollator can adapt flexibly to various conditions.To achieve synchronized operation and precise control of the dual hub motors, the system continuously monitors the Hall signals from both motors and calculates the speed differential. Based on this data, two fuzzy logic control systems are designed. The first system performs reasoning based on the user′s average distance and walking trend variation rate, generating initial control signals. The second hierarchical system takes the output of the first, combined with the motor speed differential, to perform further reasoning, achieving precise motor control. This combination ensures the Intelligent Rollator can adjust motor speeds in real-time, maintaining a nearly straight and stable walking state.By applying multi-sensor fusion and fuzzy control theory, the Intelligent Rollator provides precise and reliable mobility support. |
