CN102727350A - Electrically-powered wheelchair control device and control method thereof - Google Patents
Electrically-powered wheelchair control device and control method thereof Download PDFInfo
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- CN102727350A CN102727350A CN2012102201330A CN201210220133A CN102727350A CN 102727350 A CN102727350 A CN 102727350A CN 2012102201330 A CN2012102201330 A CN 2012102201330A CN 201210220133 A CN201210220133 A CN 201210220133A CN 102727350 A CN102727350 A CN 102727350A
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Abstract
The invention discloses an electrically-powered wheelchair control device, which comprises a central processing unit, wherein the central processing unit controls an electrically-powered wheelchair motor to work. The electrically-powered wheelchair control device is also provided with a head gesture identification device which outputs a user head gesture variation signal to the central processing unit. The electrically-powered wheelchair control device can be convenient for severely paralysed patients, and conforms to the human motion habit.
Description
Technical field
The present invention relates to the control system of walking-replacing tool, in particular, relate to a kind of control device that is used for electric wheelchair.
Background technology
Wheelchair is the device of the auxiliary people with disability's action of a kind of conduct, and its purposes is to help the people with disability independently to take action, and has obtained more and more coming utilization, particularly electric wheelchair more widely, and it is not only easy to operate, and it is convenient to move.Yet, for the patient of high paraplegia, be difficult to control electric wheelchair through operating grip, make the patient of high paraplegia when using wheelchair, have to carry out by other people, patient needs to help by other people for a long time like this.And the present invention can address this problem to a great extent.
Summary of the invention
Technical problem to be solved by this invention is to realize a kind of control device that can be used the operation wheel chair sport by the serious symptom paralytic.
To achieve these goals; The technical scheme that the present invention adopts is: a kind of electric wheelchair control device; Comprise the wheelchair body, the CPU of control electric wheelchair machine operation also is provided with the appearance recognition device that output user head pose variable signal is delivered to CPU.
Described appearance recognition device comprises that hangs on the video camera that the variation of user head pose is gathered in wheelchair the place ahead; The processor of the head pose variable signal of gathering with the video camera connection processing; Described processor converts the head pose variable signal to voltage signal and is delivered to CPU, is worn on the LED punctuate headgear on the user head.
Described motor is provided with electrode sensor, and the signal conveys of being gathered by described electrode sensor is to CPU.
Described CPU is provided with versatile interface.
Described LED punctuate headgear is provided with one and is fixed in the preceding interlock switch of user mouth.
The control method of electric wheelchair control device comprises:
System start-up;
The LED lamp image of camera acquisition user head extracts significant condition;
Processor carries out the head pose to the LED lamp characteristics of image state of gathering and calculates;
Export corresponding control instruction to central processing unit controls wheel chair sport after calculating the head pose.
Further:
Describedly export central processing unit controls instruction to and comprise:
LED lamp characteristics of image state continuance is in shift state left, and the control wheelchair turns left to advance;
LED lamp characteristics of image state continuance is in shift state to the right, and the control wheelchair is turned right and advanced; LED lamp characteristics of image state continuance is at the downward bias shifting state, and control wheelchair straight line moves back commentaries on classics;
LED lamp characteristics of image state continuance is controlled the wheelchair straight ahead in the shift state that makes progress.
The invention has the advantages that this wheelchair control device can be convenient to the serious symptom paralytic and use, and meet the human motion custom.
Description of drawings
Face the content of every width of cloth accompanying drawing expression in the description of the present invention and the labelling among the figure down and make brief description:
Fig. 1 is a wheelchair control device circuit block diagram;
Fig. 2 is a fundamental diagram of appearance recognition device;
Fig. 3 is the algorithm flow chart that camera infrared LED gauge point is gathered head pose and processing;
Fig. 4 is the Electric Machine Control theory diagram;
Labelling among the above-mentioned figure is: 1, an appearance recognition device; 2, CPU; 3, motor; 4, versatile interface; 5, electrode sensor.
The specific embodiment
Can know that referring to Fig. 1 this device mainly comprises an appearance recognition device 1, CPU 2, versatile interface 4 and electrode sensor 5, wherein CPU 2 is the master controller of wheelchair, output control command to motor 3, thus drive wheel chair sport; Appearance recognition device 1 comprises that one hangs on wheelchair the place ahead and gathers the video camera that user head appearance changes; And the processor of an appearance variable signal of gathering with the video camera connection processing, video camera matches with processor and adopts the variation of infrared LED gauge point form collection user head appearance, and by processor the voltage signal that converts to of an appearance variable signal is delivered to CPU 2; Infrared LED gauge point form needs user to wear LED punctuate headgear; Be provided with several infrared LED light sources at the headgear dead ahead, supply video camera can gather appearance variable signal to the end clearly, also be provided with one on the LED punctuate headgear and be fixed in the preceding interlock switch of user mouth; Can fix with the connecting rod of adjustable position; The interlock switch is the microswitch that an outside is surrounded by protecting film, because user is handicapped, and can be through control interlock switch; Realization is to the switch of system, avoids can not proper motion can only controlling the difficult situation of wheelchair with going up the headgear occiput.LED punctuate headgear can be connected with the wheelchair power supply through power line, by its power supply, and connects interlock switch and central control unit 2.
After CPU 2 receives processor signal, according to this signal control motor 3 forward-reverses and rotating speed thereof; Its fundamental diagram is seen Fig. 2, the variation that camera matches with processor and adopts infrared LED gauge point form to gather the user head pose, and the flow chart of algorithm process is seen Fig. 3.After control interlock switching system starts; The LED lamp image of camera acquisition user head; Extract significant condition, dsp processor carries out the head pose to the LED lamp characteristics of image state of gathering and calculates, and calculates output corresponding control instruction to CPU 2 control wheel chair sports behind the head pose; The instruction here is: LED lamp characteristics of image state continuance is in shift state left, and the control wheelchair turns left to advance; LED lamp characteristics of image state continuance is in shift state to the right, and the control wheelchair is turned right and advanced; LED lamp characteristics of image state continuance is at the downward bias shifting state, and control wheelchair straight line moves back commentaries on classics; LED lamp characteristics of image state continuance is controlled the wheelchair straight ahead in the shift state that makes progress.
Wherein video camera is selected according to the standard and the different parameters of wheelchair; And the major function of dsp processor is to convert the head pose variable signal to voltage signal to be delivered to CPU 2.And the DSP processing capacity is to be accomplished by DSP and FPGA collaborative work.After head attitude variable signal got into camera, FPGA received simultaneously and sends request command and send interruption to DSP to the Memory processor.In FPGA, utilize various algorithms that raw image data is carried out pretreatment.Data after the Memory processor response request that the FPGA pretreatment is intact write among the SDRAM.Have no progeny in the DSP response and from high-speed memory, take out data.Finally convert voltage signal to and be transported to CPU 2 through DA.
Phenomenons such as electrode sensor 5 is located on the motor 3 and with signal conveys to the CPU 2 of gathering, motor status is implemented monitoring in real time, and the malunion that possibly occur motor is normal are handled; CPU 2 control left and right sides motor 3 forward-reverses and rotating speed thereof with passing through this signal in real time, and left and right sides motor 3 receives its command request of instruction back completion, waits for that simultaneously the arrival of next instruction is also correspondingly finished the work.Motor 3 problems such as not up to standard or asynchronous possibly occur when accomplishing being provided of task in the left and right sides, and CPU 2 can be adjusted and feed back to left and right sides motor 3 once more and accomplish command request so, and then reaches the purpose of real-time control.Its Electric Machine Control theory diagram is seen shown in Figure 4.
The versatile interface 4 of wheelchair is the interfaces for external devices of device, can adopt USB interface, exchanges with system with convenient, realizes miscellaneous function.Use the electric wheelchair of an appearance recognition device 1 can also keep handle type or push button control device, and a switch key is set, strengthen the versatility of wheelchair.
Combine accompanying drawing that the present invention has been carried out exemplary description above; Obviously the concrete realization of the present invention does not receive the restriction of aforesaid way; As long as adopted the improvement of the various unsubstantialities that method of the present invention design and technical scheme carry out; Or design of the present invention and technical scheme are directly applied to other occasion without improving, all within protection scope of the present invention.
Claims (7)
1. electric wheelchair control device; Comprise the wheelchair body; The CPU (2) of control electric wheelchair motor (3) work is characterized in that: also be provided with the appearance recognition device (1) that output user head pose variable signal is delivered to CPU (2).
2. electric wheelchair control device according to claim 1; It is characterized in that: described appearance recognition device (1) comprises that hangs on the video camera that the variation of user head pose is gathered in wheelchair the place ahead; The processor of the head pose variable signal of gathering with the video camera connection processing; Described processor converts the head pose variable signal to voltage signal and is delivered to CPU (2), is worn on the LED punctuate headgear on the user head.
3. electric wheelchair control device according to claim 1 and 2 is characterized in that: described motor (3) is provided with electrode sensor (5), by signal conveys to the CPU (2) of described electrode sensor (5) collection.
4. electric wheelchair control device according to claim 3 is characterized in that: described CPU (2) is provided with versatile interface (4).
5. according to claim 2 or 4 described electric wheelchair control device, it is characterized in that: described LED punctuate headgear is provided with one and is fixed in the preceding interlock switch of user mouth.
6. according to the control method of the described electric wheelchair control device of claim 1-6, it is characterized in that:
System start-up;
The LED lamp image of camera acquisition user head extracts significant condition;
Processor carries out the head pose to the LED lamp characteristics of image state of gathering and calculates;
Output corresponding control instruction to CPU (2) is controlled wheel chair sport after calculating the head pose.
7. the control method of electric wheelchair control device according to claim 6 is characterized in that:
Described CPU (2) control instruction that exports to comprises:
LED lamp characteristics of image state continuance is in shift state left, and the control wheelchair turns left to advance;
LED lamp characteristics of image state continuance is in shift state to the right, and the control wheelchair is turned right and advanced; LED lamp characteristics of image state continuance is at the downward bias shifting state, and control wheelchair straight line moves back commentaries on classics;
LED lamp characteristics of image state continuance is controlled the wheelchair straight ahead in the shift state that makes progress.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210220133.0A CN102727350B (en) | 2012-06-29 | 2012-06-29 | Electrically-powered wheelchair control device and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210220133.0A CN102727350B (en) | 2012-06-29 | 2012-06-29 | Electrically-powered wheelchair control device and control method thereof |
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| CN102727350A true CN102727350A (en) | 2012-10-17 |
| CN102727350B CN102727350B (en) | 2015-05-13 |
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Cited By (5)
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| CN106909106A (en) * | 2017-03-22 | 2017-06-30 | 河海大学常州校区 | The motion sensing control method and device of a kind of electric wheelchair |
| CN107536677A (en) * | 2017-07-28 | 2018-01-05 | 北京航空航天大学 | The dynamic control electric wheelchair accessory system of High Paraplegia head |
| CN107754307A (en) * | 2017-12-05 | 2018-03-06 | 野草莓影业（北京）有限公司 | Control method, control device and the swiveling seat of swiveling seat |
| CN108524119A (en) * | 2018-03-10 | 2018-09-14 | 兰州理工大学 | A kind of intelligent wheel chair and its application method based on the control of the gravity sensing helmet |
| US11570016B2 (en) | 2018-12-14 | 2023-01-31 | At&T Intellectual Property I, L.P. | Assistive control of network-connected devices |
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| CN1601549A (en) * | 2003-09-26 | 2005-03-30 | 中国科学院自动化研究所 | Human face positioning and head gesture identifying method based on multiple features harmonization |
| CN200951161Y (en) * | 2006-09-22 | 2007-09-26 | 中国科学院自动化研究所 | Intelligent interactive device based on head-acting for wheel chair |
| CN101344919A (en) * | 2008-08-05 | 2009-01-14 | 华南理工大学 | Sight tracing method and disabled assisting system using the same |
| CN101889928A (en) * | 2010-07-27 | 2010-11-24 | 北京理工大学 | Head gesture recognition technology-based wheelchair control method |
| CN102048621A (en) * | 2010-12-31 | 2011-05-11 | 重庆邮电大学 | Human-computer interaction system and method of intelligent wheelchair based on head posture |
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| US20040220704A1 (en) * | 2003-05-02 | 2004-11-04 | Chern-Sheng Lin | Eye-tracking driving system |
| CN1601549A (en) * | 2003-09-26 | 2005-03-30 | 中国科学院自动化研究所 | Human face positioning and head gesture identifying method based on multiple features harmonization |
| CN200951161Y (en) * | 2006-09-22 | 2007-09-26 | 中国科学院自动化研究所 | Intelligent interactive device based on head-acting for wheel chair |
| CN101344919A (en) * | 2008-08-05 | 2009-01-14 | 华南理工大学 | Sight tracing method and disabled assisting system using the same |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106909106A (en) * | 2017-03-22 | 2017-06-30 | 河海大学常州校区 | The motion sensing control method and device of a kind of electric wheelchair |
| CN107536677A (en) * | 2017-07-28 | 2018-01-05 | 北京航空航天大学 | The dynamic control electric wheelchair accessory system of High Paraplegia head |
| CN107754307A (en) * | 2017-12-05 | 2018-03-06 | 野草莓影业（北京）有限公司 | Control method, control device and the swiveling seat of swiveling seat |
| CN108524119A (en) * | 2018-03-10 | 2018-09-14 | 兰州理工大学 | A kind of intelligent wheel chair and its application method based on the control of the gravity sensing helmet |
| US11570016B2 (en) | 2018-12-14 | 2023-01-31 | At&T Intellectual Property I, L.P. | Assistive control of network-connected devices |
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| Publication number | Publication date |
|---|---|
| CN102727350B (en) | 2015-05-13 |
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