为帮助下肢受伤和出行不便的患者及老人进行康复训练或日常步行活动,设计了一款基于FreeRTOS实时操作系统的智能助行器。本设计以STM32作为主控制器,搭配压力采集、超声波测距等外围电路。软件设计上,采用多任务的编程方式,将整个助行器系统的应用程序分为防跌倒任务、导纳控制任务、意图分析任务、压力信号采集任务、电机驱动控制任务这5个任务,并为各任务合理地分配优先级和系统资源以对助行器进行控制。经测试,所设计的智能助行器最终实现助行器柔顺控制、上坡助力、下坡控速以及主动安全防护,达到了设计目的。
Abstract
In the trend of national aging,an intelligent walking aid based on FreeRTOS real-time operating system is designed to help patients with lower limb injuries and inconvenient travel or the elderly with lower limb rehabilitation training or daily walking activities.The STM32 is used as the main controller,with pressure acquisition,ultrasonic ranging and other peripheral circuits.The multitasking programming method is adopted,the help line device system application can be divided into fall prevention task,the intention of admittance control tasks,task analysis,pressure signal acquisition task,motor driver control tasks,and a reasonable distribution of each task priority and system resources to help line device control.Through experimental tests,the designed intelligent walking aid finally realizes the walking aid compliance control,uphill power,downhill speed control and active safety,and achieves the design purpose.
关键词
FreeRTOS /
助行器 /
STM32
Key words
FreeRTOS /
walker /
STM32
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基金
* 国家自然科学基金资助项目(61074087,61703277)。
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