为使智能轮椅床在自主运行时,能随时响应周围其它对象的指令并实施协同动作,提出基于Agent概念规划控制模块的设计。通过传感器组信息、轮椅床当前状态信息、外来协同信息的感知融合,给出符合总体需求的动作选择指令序列。借助于传感器组信息、外部遥控命令信息与学习积累库的信息进行适时综合,完成比较复杂的交叉判断与协商,实现外来的指令合并本体的自主控制协同执行。如此,对智能轮椅床乘用人员来说,既能满足其自主行动的意图,又能满足其及时接受其他对象提供的服务;同时还便于远程监控人员适时介入解决特殊问题。试用表明,基于Agent概念的控制模块设计,能以清晰的软件结构和丰富的协同应对资源库显著提升智能轮椅床的整体功能。

A new design method of control module based on the concept of Agent is proposed, so that the intelligent wheelchair bed can always be ready for accepting control instruction from other objects around it, while itself is under independently operation. The command sequence for the motion choices that conform to the overall demand can be given by the perception fusion of the sensor groups information, the state machine information of the wheelchair bed, and the external collaborative information. After completing complex cross judgment and consultation, the coordinated operation of the external commands and the local autonomous control are collaborative executed, via the timely synthesis of the sensors group information, the external remote command information, and the accumulation of learning library information. To use the intelligent wheelchair bed, the control module based on the concept of Agent, can easily satisfy both independent intention and service obtained from other objects around it. At the same time, it is also very convenient for monitoring personnel to solve some special problems by remote control instruction. The test shows that the operation efficiency of the intelligent wheelchair bed is improved significantly.