CN102727350B - 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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- CN102727350B CN102727350B CN201210220133.0A CN201210220133A CN102727350B CN 102727350 B CN102727350 B CN 102727350B CN 201210220133 A CN201210220133 A CN 201210220133A CN 102727350 B CN102727350 B CN 102727350B
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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 for electric wheelchair.
Background technology
Wheelchair is a kind of device as assisting people with disability's action, and its purposes helps people with disability can autonomous actions, and obtained more and more coming to use more widely, particularly electric wheelchair, it is not only easy to operate, and it is convenient to move.But for the patient of high paraplegia, be difficult to control electric wheelchair by operating grip, make the patient of high paraplegia have to when using wheelchair be carried out by other people, such client need helps by other people for a long time.And the present invention can address this problem to a great extent.
Summary of the invention
Technical problem to be solved by this invention realizes a kind of control device that can be used operation wheel chair sport by serious symptom paralytic.
To achieve these goals, the technical solution used in the present invention is: a kind of electric wheel-chair control device, comprise wheelchair body, control the CPU of electric wheelchair machine operation, be also provided with and export the head appearance recognition device that user head pose variable signal is delivered to CPU.
Described head appearance recognition device comprises one and hangs on the video camera that wheelchair front gathers the change of user head pose, the processor of the head pose variable signal gathered with video camera connection handling, described processor converts head pose variable signal to voltage signal and is delivered to CPU, is worn on the LED punctuate headgear on user head.
Described motor is provided with electrode sensor, is delivered to CPU by the signal of described electrode sensor collection.
Described CPU is provided with versatile interface.
Described LED punctuate headgear be provided with one be fixed on user mouth before occlusion switch.
The control method of electric wheel-chair control device, comprising:
System start-up;
The LED image of camera acquisition user head, extracts significant condition;
Processor carries out the calculating of head pose to the LED characteristics of image state gathered;
Corresponding control instruction is exported to central processing unit controls wheel chair sport after calculating head pose.
Further:
The described central processing unit controls instruction that exports to comprises:
LED characteristics of image state continues in shift state left, controls wheelchair and turns left to advance;
LED characteristics of image state continues in shift state to the right, controls wheelchair and turns right and advance; LED characteristics of image state continues offseting downward state, and control wheelchair straight line moves back and turns;
LED characteristics of image state continues, in upwards shift state, to control wheelchair straight ahead.
The invention has the advantages that this wheel-chair control device can be convenient to serious symptom paralytic and use, and meet human motion custom.
Accompanying drawing explanation
Labelling in the content expressed every width accompanying drawing in description of the present invention below and figure is briefly described:
Fig. 1 is wheel-chair control device circuit block diagram;
Fig. 2 is a fundamental diagram for appearance recognition device;
Fig. 3 is the algorithm flow chart that camera infrared LED gauge point gathers head pose and process;
Fig. 4 is Electric Machine Control theory diagram;
Labelling in above-mentioned figure is: 1, head appearance recognition device; 2, CPU; 3, motor; 4, versatile interface; 5, electrode sensor.
Detailed description of the invention
Known see Fig. 1, this device mainly comprises an appearance recognition device 1, CPU 2, versatile interface 4 and electrode sensor 5, and wherein CPU 2 is the master controller of wheelchair, exports control command to motor 3, thus drives wheel chair sport, head appearance recognition device 1 comprises one and hangs on the video camera that wheelchair front gathers the change of user head appearance, and the processor of the head appearance variable signal to gather with video camera connection handling, video camera matches with processor the change adopting infrared LED gauge point form to gather user head appearance, and by processor, the voltage signal that converts to of head appearance variable signal is delivered to CPU 2, infrared LED gauge point form needs user to wear LED punctuate headgear, several infrared LED light source is provided with at headgear dead ahead, appearance variable signal to the end can be gathered clearly for video camera, LED punctuate headgear is also provided with one be fixed on user mouth before occlusion switch, can fix with the connecting rod of adjustable position, occlusion switch is the microswitch that an outside is surrounded by protecting film, because user is handicapped, can by controlling occlusion switch, realize the switch to system, avoid bringing headgear occiput can not can only control the difficult situation of wheelchair by proper motion.LED punctuate headgear can be connected with wheelchair power supply by power line, by its power supply, and connects occlusion switch and central control unit 2.
After CPU 2 receives processor signal, according to this signal control motor 3 forward-reverse and rotating speed thereof; Its fundamental diagram is shown in Fig. 2, and camera matches with processor the change adopting infrared LED gauge point form to gather user head pose, and the flow chart of algorithm process is shown in Fig. 3.After controlling the startup of occlusion switching system, the LED image of camera acquisition user head, extract significant condition, dsp processor carries out the calculating of head pose to the LED characteristics of image state gathered, export corresponding control instruction after calculating head pose and control wheel chair sport to CPU 2, here instruction is: LED characteristics of image state continues in shift state left, controls wheelchair and turns left to advance; LED characteristics of image state continues in shift state to the right, controls wheelchair and turns right and advance; LED characteristics of image state continues offseting downward state, and control wheelchair straight line moves back and turns; LED characteristics of image state continues, in upwards shift state, to control wheelchair straight ahead.
Wherein video camera is selected according to the standard of wheelchair and different parameters; And the major function of dsp processor converts head pose variable signal to voltage signal to be delivered to CPU 2.And DSP processing capacity is completed by DSP and FPGA collaborative work.After head attitudes vibration signal enters camera, FPGA carries out reception and sends request command to Memory processor simultaneously and send interruption to DSP.In FPGA, utilize various algorithm to carry out pretreatment to raw image data.By in data complete for FPGA pretreatment write SDRAM after Memory processor response request.Have no progeny in DSP response and take out data from high-speed memory.Convert voltage signal to eventually through DA and be transported to CPU 2.
The phenomenons such as electrode sensor 5 is located on motor 3 and by the signal of collection and is delivered to CPU 2, implements in real time monitoring to motor status, and the malunion that may occur motor is normal process; CPU 2 controls left and right motor 3 forward-reverse and rotating speed thereof in real time by this signal, and left and right motor 3 completes its command request after receiving instruction, waits for the arrival of next instruction simultaneously and correspondingly finishes the work.At left and right motor 3 when completing provided task, may occur the problems such as not up to standard or asynchronous, so CPU 2 again can adjust and feed back to left and right motor 3 to complete command request, and then reaches the object controlled in real time.Its Electric Machine Control theory diagram as shown in Figure 4.
The versatile interface 4 of wheelchair is the interfaces for external devices of device, can adopt USB interface, exchange, realize miscellaneous function to facilitate with system.Use the electric wheelchair of head appearance recognition device 1 can also retain handle type or push button control device, and a switch key is set, strengthen the versatility of wheelchair.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that method of the present invention is conceived and technical scheme is carried out; or design of the present invention and technical scheme directly applied to other occasion, all within protection scope of the present invention without to improve.
Claims (4)
1. an electric wheel-chair control device, comprise wheelchair body, control the CPU (2) that electric wheelchair motor (3) works, it is characterized in that: be also provided with and export the head appearance recognition device (1) that user head pose variable signal is delivered to CPU (2);
Described head appearance recognition device (1) comprises one and hangs on the video camera that wheelchair front gathers the change of user head pose, the processor of the head pose variable signal gathered with video camera connection handling, head pose variable signal is converted to voltage signal and is delivered to CPU (2) by described processor, is worn on the LED punctuate headgear on user head;
Described motor (3) is provided with electrode sensor (5), and the signal gathered by described electrode sensor (5) is delivered to CPU (2);
Described LED punctuate headgear be provided with one be fixed on user mouth before occlusion switch.
2. electric wheel-chair control device according to claim 1, is characterized in that: described CPU (2) is provided with versatile interface (4).
3. the control method of electric wheel-chair control device according to claim 1 and 2, is characterized in that:
System start-up;
The LED image of camera acquisition user head, extracts significant condition;
Processor carries out the calculating of head pose to the LED characteristics of image state gathered;
Export corresponding control instruction after calculating head pose and control wheel chair sport to CPU (2).
4. the control method of electric wheel-chair control device according to claim 3, is characterized in that:
Described CPU (2) control instruction that exports to comprises:
LED characteristics of image state continues in shift state left, controls wheelchair and turns left to advance;
LED characteristics of image state continues in shift state to the right, controls wheelchair and turns right and advance; LED characteristics of image state continues offseting downward state, and control wheelchair straight line moves back and turns;
LED characteristics of image state continues, in upwards shift state, to control wheelchair straight ahead.
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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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| CN201210220133.0A CN102727350B (en) | 2012-06-29 | 2012-06-29 | Electrically-powered wheelchair control device and control method thereof |
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| CN102727350B true CN102727350B (en) | 2015-05-13 |
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Families Citing this family (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 |
| CN107536677B (en) * | 2017-07-28 | 2019-05-31 | 北京航空航天大学 | The dynamic control electric wheelchair auxiliary 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6842670B2 (en) * | 2003-05-02 | 2005-01-11 | Chung Shan Institute Of Science And Technology | Eye-tracking driving system |
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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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