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Digital Twin para cadeira de rodas elétrica
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Nos dias que correm, são notórias as várias limitações existentes para os utilizadores de
cadeiras de rodas, nomeadamente a acessibilidade em espaços públicos, a capacidade
financeira para adquirir um modelo que seja adequado às suas necessidades e a monitorização
do estado dos componentes da cadeira.
Existem dezenas de milhões de utilizadores deste tipo de veículo espalhados por
todo o mundo e uma grande percentagem reporta que tem, pelo menos, um acidente nos
últimos três anos de utilização. A este facto, acresce a escassez de inovação no mercado
do design e produção de cadeiras de rodas, o que faz com que haja uma necessidade de
encontrar uma solução viável para estes problemas.
A solução proposta passa pela criação de um modelo digital, idêntico ao de uma cadeira
de rodas elétrica, também conhecido por Digital Twin, cujo propósito é monitorizar
o estado dos seus componentes e replicar os seus movimentos, com recurso a um simulador
virtual. Para o modelo físico da cadeira, foi desenvolvido um protótipo com base
no módulo EV3, da gama de robôs programáveis da LEGO, juntamente com o módulo
da bússola CMPS11, integrado com o microcontrolador ESP8266. O modelo digital foi
desenvolvido no ambiente ROS, com recurso ao simulador Gazebo para questões de visualização
e simulação do modelo 3D, que por sua vez foi criado no software Blender.
Para a monitorização, foi desenvolvida uma interface através da ferramenta Node-RED, a
qual apresenta diversos gráficos com variações de inclinação e estado dos componentes
da cadeira. A nível de armazenamento dos dados gerados, a interface disp
It is notorious nowadays that there are several limitations for wheelchair users, namely accessibility in public spaces, the financial capacity to purchase a model that is suitable for their needs, and monitoring the condition of the chair’s components. There are tens of millions of wheelchair users around the world and a large percentage report having at least one accident in the last three years of use. To this fact, we can add the lack of innovation in the wheelchair design and production market, which makes it necessary to find a viable solution to these problems. The proposed solution is the creation of a digital model, identical to an electric wheelchair, also called Digital Twin, whose purpose is to monitor the state of its components and replicate its movements, using a virtual simulator. For the physical model of the chair, a prototype was developed based on the EV3 module, from the LEGO programmable robots range, along with the CMPS11 compass module, integrated with the ESP8266 microcontroller. The digital model was developed in the ROS environment, using the Gazebo simulator for visualization and simulation of the 3D model, which was created in the Blender software. For the monitoring, an interface was developed through the Node-RED tool, which presents several graphs with variations of inclination and state of the chair components. In order to store the generated data, the interface also has a tool that saves it in a CSV file for later analysis.
It is notorious nowadays that there are several limitations for wheelchair users, namely accessibility in public spaces, the financial capacity to purchase a model that is suitable for their needs, and monitoring the condition of the chair’s components. There are tens of millions of wheelchair users around the world and a large percentage report having at least one accident in the last three years of use. To this fact, we can add the lack of innovation in the wheelchair design and production market, which makes it necessary to find a viable solution to these problems. The proposed solution is the creation of a digital model, identical to an electric wheelchair, also called Digital Twin, whose purpose is to monitor the state of its components and replicate its movements, using a virtual simulator. For the physical model of the chair, a prototype was developed based on the EV3 module, from the LEGO programmable robots range, along with the CMPS11 compass module, integrated with the ESP8266 microcontroller. The digital model was developed in the ROS environment, using the Gazebo simulator for visualization and simulation of the 3D model, which was created in the Blender software. For the monitoring, an interface was developed through the Node-RED tool, which presents several graphs with variations of inclination and state of the chair components. In order to store the generated data, the interface also has a tool that saves it in a CSV file for later analysis.
Descrição
Palavras-chave
Digital Twin EV3 ev3dev ROS Gazebo Node-RED