「世大智科/天才家居」-我們創業囉
Contact Professor: Yeh-Liang Hsu (徐業良)

102學年度元智大學機械工程研究所張程皓碩士論文

Master thesis by Chen-Hao Chang, Mechanical Engineering Department, Yuan Ze University, 2014

103碩士論文:結合行動裝置之全向移動電動輪椅控制器開發

行動不便者常經由「行動能力輔助科技(mobility assistive technology, MAT)」的幫助來改善自身的行動能力,其中電動輪椅則是最常見的行動輔具之一。另外由於近年來行動裝置的興起,將硬體設備和行動裝置進行結合的架構變成一股趨勢,對於使用電動輪椅的行動不便者而言,如何將行動裝置和電動輪椅進行結合,來增加電動輪椅使用範圍,變成一個值得討論的研究。 本研究目的是進行結合行動裝置之全向移動電動輪椅控制器開發,並以“Body, Cerebellar &; Brain”架構來作為設計概念,在“Body, Cerebellar &; Brain”架構中,Cerebellar將有基本的演算法來進行移動方向判別和速度演算,針對全向移動電動輪椅移動的穩定性和乘坐的舒適性,在演算法設計全向移動電動輪椅移動控制策略,在Cerebellar和Neurons之間則是以自行設計的K-USIP編碼(Kim - Universal Serial I2C Protocol)來進行資料傳輸,確保資料傳輸時的正確性和完整性;而各種客製化和創新功能則是可以透過行動裝置中的App不斷地更新來達成。 “Body, Cerebellar &; Brain”架構透過軟硬體清楚分離的方式,讓電動輪椅能夠在藉由App功能更新來延長產品生命週期,同時能夠應用於各種使用情境。“Body, Cerebellar &; Brain”架構不僅只是電動輪椅控制器系統架構上的創新,更帶來後續可能營運模式上的創新。

關鍵字:電動輪椅、全向移動載具、智慧型行動裝置

Controller Development of the Omni-Directional Power Wheelchair Combined with Mobile Devices

To facilitate mobility, people with disability frequently employ mobility assistive technology (MAT). The power wheelchair is the most common mobility aids. In the other hand, as the rise of mobile devices in recent years, combined the hardware and mobile device become the trend. Therefore, for the user of power wheelchair, how to combine the mobile device with power wheelchair in order to improve the product life cycle of power wheelchair is an important issue being studied. The purpose of this study is to develop the controller of the Omni-directional power wheelchair combined with mobile devices. Use the “Body, Cerebellar &; Brain” structure as the design concept. In this structure, Cerebellar will have the basic algorithm to determine the movement direction and movement speed. In addition, the algorithm has the movement control strategy for the stability and comfort. In the other hand, in order to make sure the correctness and completeness of the common transmits between the Cerebellar and Neurons. Use the K-USIP (Kim - Universal Serial I2C Protocol) format which designed by ourselves to doing the data transmission. And last, but not least, any customized and innovative functions would be extended by updating the app continuously “Body, Cerebellar &; Brain” structure separate the hardware and software obviously. It improve the product life cycle of power wheelchair would be extended by updating the app continuously and could be apply in many different situation. “Body, Cerebellar &; Brain” structure is not only the innovative design of controller system of power wheelchair but could bring the innovative business model for the power wheelchair.

Keywords: Power wheelchair、Omni-directional vehicle、mobile devices

Academic Thesis
Last Updated:2015/12/2