以PSO-PID控制器設計防跌倒拐杖

Design of Anti-Falling Crutches Using PSO-PID Controller

張裕國(Yu-Guo Zhang)

指導教授 ： 沈志昌

嶺東科技大學/資訊學院/資訊科技系碩士班/碩士(2019年)

摘要

內政部統計，台灣已邁入高齡社會，隨著人口老化，目前統計全台高齡人口約有19萬人，伴隨著年紀的增長常出現動作遲緩、缺乏平衡和反應遲鈍等行動產生，導致受傷風險提高。目前市面上有許多不同類型的輔具設備，從寢具到吃飯用具都有依照不同需求製作出不同的輔助工具；在移動上，許多年長者多數還是選擇拐杖作為輔助行動的工具。
目前針對跌倒事件通報系統的研究上，已有學者做出相關研究，它們都是讓年長者可以透過物品發出求救訊號，但是當真正發生跌倒後造成昏迷或肢體受傷而無法出力時，這種情況系統就無法使用了。因此針對這點，能讓年長者在快要跌倒時，得到適當的輔助，如此設計方針，目的在於降低年長者跌倒的風險。
本研究利用九軸感測器結合拐杖機械結構即時偵測拐杖動態，當拐杖動態異常狀況會即時使用伺服馬達主動進行補正輔助動作降低跌倒意外發生，大幅降低跌倒造成的傷害與醫療損失，對於人力也是一大幫助，也保有年長者身體能有自主能力，減少身體退化的速度。此設計目的為防跌倒拐杖，防跌倒拐杖在判定動態異常上需要利用粒子群最佳化演算法(PSO)與比例-積分-微分控制器(PID控制器)使判定更加精準減少誤判機率，當跌倒意外發生時，使防跌倒拐杖以更精準主動式輔助使用者降低跌倒意外發生。年長者或是行動不便者跌倒是件非常嚴重的事，可以即時預防是相當重要的。

關鍵字

PID控制器 ； PSO ； 九軸感測器 ； 防跌倒拐杖 ； 伺服馬達

並列摘要

According to the ministry of interior, Taiwan has entered the advanced age society. With the aging of the population, there are about 190,000 elderly people in Taiwan. At present, there are many different types of auxiliary equipment in the market, from bedding and tableware, all of which have different auxiliary tools made according to different needs. In terms of mobility, many elders still choose crutches as the auxiliary tools.
In the current study on the fall event notification system, researcher have made relevant studies, which allow the elderly to send distress signals through objects, but when the fall actually caused coma or limb injury and unable to work, the system cannot be help. Therefore, the aim of this design is to reduce the risk of falls among the elderly by providing them with appropriate assistance when they are about to fall.
In this study, nine-axis sensor combined with crutches mechanical structure is used to detect crutches dynamics in real time. When crutches dynamics are abnormal, it will used servo take the initiative to carry out auxiliary actions immediately to reduce the occurrence of falls, greatly reduce the injury and medical loss caused by falls, which is also a great help for assistant, and also to maintain the elderly's autonomous ability and reduce the speed of physical degradation. The purpose of this design is to prevent falling crutches. PSO-PID controller should be used to make the determination more accurate and reduce the probability of misjudgment in the determination of dynamic anomalies. When falls occur, the anti-falling crutches can be used as a more accurate active auxiliary user to reduce the occurrence of falls. Falls in the elderly or those with mobility problems are very serious and it is important to prevent them immediately.

並列關鍵字

PID controller ； PSO ； Nine-axis Sensor ； Anti-falling Crutches ； Servo

參考文獻

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