Diseño e implementación de un sistema de control de la linealidad de la trayectoria de una silla de ruedas manejada mediante comandos de voz, para personas cuadripléjicas

Abstract

This work presents the control of the chair by voice commands: the command issued is acquired by a microphone and processed by the voice recognition software, the recognized word is transformed into text and interpreted within a graphic interface created in Visual Basic. The orders "FORWARD", "BACK", "LEFT", "RIGHT", "STOP", are transmitted from the minicomputer to the motor controller. However, due to different factors, the chair deviates and does not move in a straight line being a problem because, the user will have to pronounce several times the command, to correct and reach the desired point. This work also shows the design and implementation of the linearity control of the trajectory, using a magnetic sensor, which obtains the initial orientation of the chair before starting the forward movement, when the user orders the movement, the chair moves and if the deviation angle is greater or less than the determined value, the compensation until you return to the initial orientation, achieving the rectilinear trajectory. To protect the user's safety, six ultrasonic sensors are placed that allow detecting obstacles that would impact the user, or detect steep slopes or slopes, before which the chair stops immediately.