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The safety of intelligent wheelchairs with navigation functionality is crucial during operation. Traditional 2D LiDAR sensors are unable to identify three-dimensional obstacles. Even with the addition of RGB-D cameras theoretically capable of reconstructing 3D scenes, the uneven lighting in complex indoor environments prevents the effective reconstruction of indoor scenes using depth-dependent uniform light sources. This limitation poses significant safety risks for traditional wheelchairs operating in complex indoor environments. This paper proposes an intelligent nursing wheelchair based on 3D LiDAR technology. The 3D LiDAR sensor can effectively detect irregular obstacles with height differences in scanning complex indoor environments without relying on uniform indoor lighting. Experimental mapping of indoor environments demonstrates that 3D LiDAR technology enables the wheelchair to identify irregular three-dimensional obstacles during indoor operation, thereby enhancing safety for elderly users.

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Enhancing Safety and Navigation in Intelligent Nursing Wheelchairs Using 3D LiDAR Technology

  • 会议论文

  • 发表日期：

    2025年

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  • Zhewen Zhang,
  • Jiangui Wu,
  • Hongliu Yu

摘要

The safety of intelligent wheelchairs with navigation functionality is crucial during operation. Traditional 2D LiDAR sensors are unable to identify three-dimensional obstacles. Even with the addition of RGB-D cameras theoretically capable of reconstructing 3D scenes, the uneven lighting in complex indoor environments prevents the effective reconstruction of indoor scenes using depth-dependent uniform light sources. This limitation poses significant safety risks for traditional wheelchairs operating in complex indoor environments. This paper proposes an intelligent nursing wheelchair based on 3D LiDAR technology. The 3D LiDAR sensor can effectively detect irregular obstacles with height differences in scanning complex indoor environments without relying on uniform indoor lighting. Experimental mapping of indoor environments demonstrates that 3D LiDAR technology enables the wheelchair to identify irregular three-dimensional obstacles during indoor operation, thereby enhancing safety for elderly users.