Gyroscope-Based Dynamic Balance Control Method for an Electric Wheelchair

A gyroscope-based dynamic balance control method for an electric wheelchair, comprising the following steps:

• S1, acquiring, by a gyroscope, a current pitch angle and a current roll angle of the electric wheelchair, and acquiring a traveling speed of the electric wheelchair, wherein a ground slope at which the electric wheelchair is currently located is obtained based on the pitch angle, wherein the ground slope is an inclination angle of a ground surface relative to a horizontal plane, and wherein the roll angle is an angle by which the electric wheelchair rotates about a longitudinal axis of a wheelchair body thereof;
• S2, inputting pitch-angle, roll-angle, and traveling-speed of the electric wheelchair into an offline-trained random forest model to predict a rollover status of the electric wheelchair, wherein, in the offline-trained random forest model, the pitch-angle, roll-angle, and traveling-speed of the electric wheelchair serve as explanatory variables, and the rollover status of the electric wheelchair serves as a response variable;
• S3, in response to predicting that a rollover of the electric wheelchair occurs, controlling the electric wheelchair to operate at zero speed or a low speed under a rated load;
• and
• S4, in response to predicting that no rollover of the electric wheelchair occurs, adjusting, in real time, deployment and retraction distances of left and right support wheels by the electric wheelchair, such that the wheelchair device maintains a minimum roll angle and continues traveling.