智慧助行器設計與實作

Development and Implementation of the Smart Walker

吳衍幟(Yan-Zhi Wu)

指導教授 ： 鄭文昌

朝陽科技大學/資訊學院/資訊工程系/碩士(2017年)

摘要

近年來，人口老化的問題日益嚴重，照顧銀髮族的生活起居成為一個重要的課題。隨著銀髮族年齡的增長，骨質疏鬆、膝關節退化、肌肉萎縮等相關老化問題相繼的產生，常會導致下肢行走不穩，甚至跌倒受傷等嚴重問題，所以如何輔助老年人行走就變成了一個重要的研究課題。隨著醫療科技的進步，各式各樣輔助老年人行走的助行器發展也越趨成熟，本論文開發了一台主動式智慧型助行器以用來應對銀髮族生活不便的困擾。在本論文中，我們透過一台微控制器整合智慧型助行器上面安裝的各式功能模組作為控制驅動層，以一台筆記型電腦作為處理核心，以分散式處理的概念對控制驅動層的微控制器下達命令，完成循跡導航、避障、意圖偵測、自我定位以及充電站這些功能。經實驗測試結果，循跡導航的成功率達到100%，行動意圖的辨識正確率也達到了99.97%，助行器也能夠準確的駛入充電站，充電模組偏移距離不超過±3mm，此助行器的平均反應時間約為0.95秒，考慮到使用者族群為年長者，助行器的延遲時間在可以接受的範圍內。在未來則希望可以將標線偵測的方式改進，並將處理核心的筆記型電腦轉換成平板電腦的形式以更加方便助行器的行走與使用者的操作。

關鍵字

循跡感測器 ； 雷射測距儀 ； 壓力感測器 ； 無線射頻 ； 意圖偵測 ； 無線充電

並列摘要

In recent years, the problem of population aging is becoming more and more serious, caring for the life of the elderly is an important issues. With the growth of the age of the elderly, osteoporosis, knee degeneration, muscle atrophy, and other related aging problems, often lead to lower extremity walking instability, and even fall injured and other serious problems, so how to assist the old people to walk becomes an important research issues. With the development of medical science and technology, a variety of aids to help the elderly to walk more mature, this research developed an active intelligent Walker to deal with the problems of the elderly life. In this paper, we use a microcontroller to integrate the intelligent Help-line device installed on the various functional modules as a control drive layer, with a notebook computer as the processing core, the concept of distributed processing to control the driving layer of the microcontroller command, complete tracking navigation, avoid obstacles, intent to detect, Self-positioning and charging stations for these functions. Experimental results showed that the success rate of tracking navigation was 100%, the correct rate of action intention is also reached 99.97%, the help line can also accurately enter the charging station, charging module offset distance of not more than ±3mm, the average reaction time of this device is about 0.95 seconds, taking into account the user community for the elderly, The delay time of the support line is within an acceptable range. In the future, it is hoped that the way of marking detection can be improved, and the notebook computer that handles the core will be converted to the form of a tablet computer, so that the walker can walk more smoothly and facilitate the user's operation.

並列關鍵字

Array Reflectance Sensor ； Laser Range Finder ； RFID ； pressure sensors ； intent detection ； wireless charging

參考文獻

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