Abstract
To improve the mode and precision of wheelchair/nursing-bed automatic docking, a novel central embedded wheelchair/nursing-bed automatic docking method based on grid map is proposed. Firstly, Laplace operator and Iterative Closest Point (ICP) algorithm are used to filter and match Lidar point cloud, and the linear features of V-shaped artificial landmark are fitted by Split-merge method and least square method. Then Extended Kalman Filter (EKF) is used to fuse Inertial Measurement Unit (IMU) and odometer data to realize the localization of the bed and wheelchair. Meanwhile, the grid map is used for path planning. Based on the center-line of the two rear wheels and the angular bisector of V-shaped artificial landmark, the wheelchair pose is adjusted in real-time to ensure that the wheelchair gradually approaches the bed along the angular bisector of V-shaped artificial landmark. The yaw angle is reduced by using the improved Proportion Integration Differentiation (PID). 9 sets of experimental data, ie. (x, y, θ) were collected at different starting positions during the docking process. The results show that the yaw angle of the wheelchair during the docking process is controlled within 2.5°, and the distance deviation between the final position and the ideal position of the wheelchair after docking is controlled within 0.02m. In the case of light interference with different luminous fluxes, the docking can still maintain good performance. The proposed docking algorithm has the robust performance of rapid response and low steady error, which can greatly improves the self-care ability of the bedridden elderly, and reduces the labor intensity of the nursing staff.
Highlights
According to the data of the National Bureau of Statistics, the population of China aged 60 and above is 253.88 million by 2019, accounting for 18.1%
Ren et al [3] adopted the visual docking method based on the specific artificial landmark, used the intelligent image processing system to analyze the data collected by the camera behind the wheelchair to locate the bed, and drove the motor to complete wheelchair/nursing-bed automatic docking
The mode and algorithm of Wheelchair/nursing-bed automatic docking will directly affect the accuracy of the docking and user experience, this paper proposed the wheelchair/nursing-bed automatic docking method based on Lidar and V-shaped artificial landmark
Summary
According to the data of the National Bureau of Statistics, the population of China aged 60 and above is 253.88 million by 2019, accounting for 18.1%. Many scientific research institutions have begun to develop body-separated nursing beds that can realize autonomous navigation and automatic docking. Ren et al [3] adopted the visual docking method based on the specific artificial landmark, used the intelligent image processing system to analyze the data collected by the camera behind the wheelchair to locate the bed, and drove the motor to complete wheelchair/nursing-bed automatic docking. Li et al [4] adopted the docking method based on the fusion of vision and ultrasonic wave, and determined the horizontal position of the bed center and the distance from the wheelchair using the manual calibration plate, the visual sensor and the ultrasonic sensor to realize the automatic docking. Ye et al [5] took the differential drive intelligent
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