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.
Key words
FreeRTOS /
walker /
STM32
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
References
[1] 陶春静,晏箐阳,马俪芳,等.残疾人智能移动助行器的发展现状及趋势[J].科技导报,2019,37(22):37-50.
[2] 张方书.老年人助行工具设计研究[D].天津:天津科技大学,2017.
[3] 王姊娇,张静,刘朋熹.助行器的市场现状及建议分析[J].轻纺工业与技术,2020,49(12):57-58.
[4] 任冲.老龄化对我国社会经济发展的影响及对策分析[J].内蒙古社会科学(汉文版),2014,35(5):160-166.
[5] 叶烁,梁国威,屈福康.基于FreeRTOS与远程姿态控制的机械手控制系统设计[J].装备制造技术,2021(2):27-32.
[6] 马全海,李显鹏,刘宇程,等.基于STM32和FreeRTOS的便携式多功能测距系统设计[J].单片机与嵌入式系统应用,2020,20(11):67-70,74.
[7] 张龙彪,张果,王剑平,等.嵌入式操作系统FreeRTOS的原理与移植实现[J].信息技术,2012(11):31-34.
[8] 熊一鹏,岳伟.FreeRTOS多任务调度机制在监控单元中的应用[J].单片机与嵌入式系统应用,2021,21(9):64-66.
[9] JAMES MISTRY,MATTHEW NAYLOR,WOODCOCK.Adapting FreeRTOS for multicores: an experience report[J].Software: Practice and experience,2014,44(9):1129-1154.
[10] 李凤超,孔振,吴锦华,等.柔性压阻式压力传感器的研究进展[J].物理学报,2021,70(10):1-18.
[11] TORIYAMA T,TANIMOTOY,SUGIYAMA S.Single crystal silicon nano-wire piezoresistors for mechanical sensors[J].Journal of Microelectromechanical Systems:A Joint IEEE and ASME Publication on Microstructures, Microactuators,Microsensors,and Microsystems,2002,11(5):5-611.
[12] 刘昆,王洪业.平膜片式薄膜压力传感器的线性度与灵敏度分析[J].传感技术学报,1996,9(3):1-7.
[13] 谢少华.无刷直流电机控制系统研究[D].长沙:湖南工业大学,2016.
[14] Bao T,Hua Z G,Zhang L,et al.A New Approach of Minimizing Commutation Torque Ripple for BLDCM[J].Energies,2017,10(11):1725.
PDF(2391 KB)
