CN104799984A - Assistance system for disabled people based on brain control mobile eye and control method for assistance system - Google Patents
Assistance system for disabled people based on brain control mobile eye and control method for assistance system Download PDFInfo
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Abstract
The invention discloses an assistance system for disabled people based on a brain control mobile eye and a control method for the assistance system. The system comprises vision inducing equipment, signal acquisition equipment, a signal processing module and peripheral control equipment, wherein the vision inducing equipment is used for providing a user interaction interface of the whole system, and a user carries out control by using the interface; the signal acquisition equipment is used for acquiring the brain electrical activity of the scalp, converting an acquired analog signal into a digital signal and transmitting the signal to the signal processing module; the signal processing module is used for analyzing acquired data in real time and controlling an experimental process; the peripheral control equipment comprises the mobile eye and a wheelchair; the mobile eye comprises an intelligent trolley and a camera holder arranged on the intelligent trolley; the peripheral control equipment can do corresponding motion according to a control instruction sent by the signal processing module. According to the assistance system for the disabled people based on the brain control mobile eye and the control method for the assistance system, the safety of wheelchair control can be improved.
Description
Technical field
The invention belongs to field of intelligent control technology, relate to a kind of disabled assisting system, particularly relate to a kind of disabled assisting system moving eye based on brain control; Meanwhile, the invention still further relates to a kind of control method of above-mentioned disabled assisting system.
Background technology
Auxiliary facilities relates to the research of brain-computer interface Brain Computer Interface technology in the 1970's by Jacques Vidal and raises the curtain, first brain-computer interface international conference of 1999 is made as given a definition: " torsion free modules is a kind of communication system do not relied on normally by nervus peripheralis and sarcous output channel " (translation), briefly, ancillary equipment is controlled by idea.Brain-computer interface now has following assembly usually, and vision induced equipment is optional, cerebral activity data extraction device, signal handling equipment, peripheral controlled device.
Brain-computer interface comprises the brain-computer interface based on P300 current potential.P300 current potential is event related potential Eventrelated Potential, the one of ERP.People is subject to the roughly 300ms after environmental stimuli, the forward potential fluctuation produced in associative brain regions.This current potential can by vision, audition, and the multiple stimulus to the sense organ such as sense of touch is brought out.This stimulation need be small probability event, if stimulate the quality that too frequently can affect P300.The brain-computer interface typewriter system based on visual P300 is adopted to be proposed for the first time in 1988.In such brain-computer interface, the pattern of visual stimulus, the flashing sequence of stimulation, and interface layout all has impact to the performance of system.
Normally used cerebral activity signal is EEG Electroencephalography, is gathered outside brain scalp by electrode, is a kind of mode of non-intrusive.This acquisition mode is in signal resolution, and cost and practicality aspect have advantage.
Along with the improvement of living standard, all kinds of electric wheelchair occurs in succession, assists handicapped personage to make the life better.But most wheelchair all needs hands to control now, and for the crowd of serious loss kinetism, this kind of control technology is meaningless.Brain-computer interface technology directly reads the brain signal of user, needs muscular tissue to participate in hardly, can effectively serve above-mentioned crowd.
The patent No. is that the Chinese patent of CN201310163499.3 discloses a kind of intelligent wheelchair system based on SSVEP Steady State Visual Evoked Potential steady-statevisual evoked potentials, comprises LED stroboscopic stimulator, electrode cap, brain electricity pre-process circuit, wireless transmitting system, host computer, wheelchair control circuit, electric wheelchair and automatic obstacle-avoiding module.Send host computer to through wireless transmitting system after the EEG signals that electrode cap collects carries out pretreatment by brain electricity pre-process circuit and carry out process generation control signal, then send wheelchair control circuit to through wireless transmitting system wheelchair is controlled.But in program design, vision induced module occurs that the flickering vision of multiple certain frequency stimulates simultaneously, easily allows user tired.
The patent No. is that the Chinese patent of CN201410269902.5 discloses a kind of method for controlling intelligent wheelchair based on brain-computer interface and automatic Pilot technology, comprises the following steps: obtain photo current according to IP Camera and realize location to barrier; Obstacle information produces candidate destination and the track points for path planning; Carry out self-align to wheelchair; User is selected your destination by brain-computer interface; Using position current for wheelchair as starting point, the destination that user selects, as terminal, plans optimal path in conjunction with track points; Calculate the feedback of alternate position spike as PID path tracking algorithm of wheelchair current location and optimal path; PID path tracking algorithm calculates reference angular velocities and linear velocity is incorporated into PID motion controller, and mileage is converted into current angular velocity and the linear velocity information feedback as PID motion controller, controls wheelchair in real time and travels to destination.Need in the program to use outside photographic head, the environment be familiar with can only be used for.In addition the stacking fold of P300 is fixed as 4 times, is unfavorable for the delivery efficiency of wheelchair.
In above-mentioned wheelchair aid system, controll plant only has wheelchair one, and people is sitting in visual dead angle area wheelchair cannot observed under foreign environment.
In view of this, nowadays in the urgent need to designing a kind of new aid system, to overcome the above-mentioned defect of existing system.
Summary of the invention
Technical problem to be solved by this invention is: provide a kind of disabled assisting system moving eye based on brain control, can increase the safety of wheelchair control.
In addition, the present invention also provides a kind of control method of above-mentioned disabled assisting system, can increase the safety of wheelchair control.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
Move a disabled assisting system for eye based on brain control, described system comprises: vision induced interface, signal collecting device, signal processing module, peripheral control unit;
Described vision induced interface is the User Interface of whole system, and user whole process utilizes this interface to control; Vision induced interface comprises three parts: video Real-time Feedback frame, control command display field, face stimulus; The middle part at vision induced interface is video Real-time Feedback frame, the video traffic information that display thecamera head returns; Top is control command display field, the first row target target position display control objectives, feeds back the word feedback that feedback part display system exports in frame; There are some icons in the surrounding of video Real-time Feedback frame, this icon is the face stimulus with instruction picture, controls and have different control instructions, under intelligent vehicle control model under wheelchair control pattern at intelligent vehicle, control intelligent vehicle moves, under wheelchair control pattern, control wheel chair sport; In system cloud gray model, face stimulus, by the control according to host computer, brings out stimulation to set rule to carry out; Bringing out stimulation mode is: produce position for stimulating on the left of instruction picture, and when icon does not carry out bringing out stimulation, square frame keeps blue; When stimulating beginning, there is the face of a personality in blue region, disappears at once subsequently; Each icon is furnished with blinking coding, the blinking intervals to same target in these coding increase systems, in the hope of increase bring out the quality of signal.Meanwhile, increase unnecessary flicker group, the possibility that false command is output can be reduced.Be finally that the important button commands of part selects unique flicker group, avoid protecting this button by wrong choice.
Described signal collecting device gathers the brain electrical acti at scalp place, the analogue signal collected is changed into digital signal, is transferred to signal processing module by USB port;
The data that described signal processing module collects in order to real-time analysis; Brain wave data is input to signal processing module from signal collecting device, and computer will carry out the fertile hereby bandpass filtering of Bart to data, and feature extraction, finally utilizes Bayes's linear classifier to classify; Signal processing module, simultaneously as host computer, controls whole experiment flow, sends instruction to vision induced equipment, peripheral control unit; This instruction is as one or more in issuing orders: control wheelchair, intelligent vehicle moves, photographic head The Cloud Terrace moves, and brings out changing interface, and send word simultaneously and feed back to vision induced interface, control inerface glimmers;
Described peripheral control unit comprises mobile eye, wheelchair; Mobile eye comprises intelligent vehicle, is arranged at the photographic head The Cloud Terrace of intelligent vehicle; The control instruction that can send according to signal processing module does corresponding action;
Before system starts, described signal processing module stimulates calculating flicker according to the following rules the order occurred; (1) can not there are flicker stimulation 2 times continuously in same position; (2) all 12 groups of stimulations must occur, and only occur once, complete a trial (wheel); Next trial (wheel) starts afterwards;
When needing flicker to stimulate, data processing module is according to Fixed Time Interval, and each transmission in turn in stimulus sequence stimulates group, after vision induced module receives commands, produces stimulate in respective icon;
Before user first time use system, need for training classifier gathers off-line data, the collection of off-line data comprises the steps:
(1) user watches order button attentively according to prompting, the number of times that on the left of silent this button of number, face occurs;
(2) all buttons can repeat repeatedly according to stimulus sequence, and user watches next target attentively according to prompting subsequently;
(3) after completing the target of some, terminate offline collection;
Described signal processing module modeling comprises the steps:
(1), after each being stimulated, 800ms eeg data is gathered, filtering, feature extraction;
(2) eeg data that each stimulates is marked: target or non-targeted;
(3) training classifier production model;
The P300 signal processing flow of described signal processing module is:
After steps A 1, each flicker stimulate order to send, data processor by the deposit data that receives in the buffer;
Steps A 2, after and then certain data of 800ms stimulated goes on record, program starts to process data;
Steps A 3, pretreatment, comprise the down-sampling that 1-30Hz Bart irrigates hereby bandpass filtering and at 4;
Steps A 4, pretreated feature are calculated by Bayes's linear classifier, draw corresponding scoring score;
Steps A 5, after a trial terminates, wherein 12 stimulate corresponding eeg data all processed, draw 12 score, and select the flicker group of 2 maximum score representatives, corresponding table 2, obtains the corresponding command;
If the order that steps A 6 obtains exists, be recorded, be not so abandoned;
If the order that steps A 7 continuous print two trial draw all exists, and identical, this order exports as control signal, and suspend flicker stimulates order to send simultaneously; If swinging of signal rule is set to, many wheel trial are identical just to be exported; If or swinging of signal rule is set to, and many wheel trial are identical, simultaneous wheels trial need reach certain quantity and just export.
Move a disabled assisting system for eye based on brain control, described system comprises:
Vision induced equipment, in order to provide the User Interface of whole system, user whole process utilizes this interface to control;
Signal collecting device, in order to gather the brain electrical acti at scalp place, changes into digital signal by the analogue signal collected, is transferred to signal processing module;
Signal processing module, the data collected in order to real-time analysis; Brain wave data is input to signal processing module from signal collecting device, and computer will carry out the fertile hereby bandpass filtering of Bart to data, and feature extraction, finally utilizes Bayes's linear classifier to classify; Signal processing module is also in order to Control release flow process; Signal processing module controls whole experiment flow simultaneously, sends control instruction to vision induced equipment, peripheral control unit;
Peripheral control unit, comprises mobile eye, wheelchair; Mobile eye comprises intelligent vehicle, is arranged at the photographic head The Cloud Terrace of intelligent vehicle; The control instruction that can send according to signal processing module does corresponding action.
As a preferred embodiment of the present invention, before first time uses, need to gather off-line data training classifier, the collection of off-line data comprises the steps: that (1) user watches order button attentively according to prompting, the number of times that on the left of silent this button of number, face occurs; (2) all buttons can repeat repeatedly according to stimulus sequence, and user watches next target attentively according to prompting subsequently; (3) after completing the target of some, terminate offline collection;
Signal processing module Modling model, after comprising the steps: that (1) stimulates each, gathers 800ms eeg data, filtering, feature extraction; (2) eeg data that each stimulates is marked: target or non-targeted; (3) training classifier production model;
Before user first time use system, arrange the content of training classifier production model, described signal processing module stimulates calculating flicker according to the following rules the order occurred; (1) can not there are flicker stimulation 2 times continuously in same position; (2) stimulation of all N groups must occur, and only occurs once, completes a trial; Next trial starts afterwards;
When needing flicker to stimulate, data processing module is according to Fixed Time Interval, and each transmission in turn in stimulus sequence stimulates group, after vision induced module receives commands, produces stimulate in respective icon.
As a preferred embodiment of the present invention, the P300 signal processing flow of described signal processing module is:
After steps A 1, each flicker stimulate order to send, data processor by the deposit data that receives in the buffer;
Steps A 2, after the data in and then certain stimulus settings time go on record, program starts to process data;
Steps A 3, pretreatment, comprise the down-sampling that 1-30Hz Bart irrigates hereby bandpass filtering and at 4;
Steps A 4, pretreated feature are calculated by Bayes's linear classifier, draw corresponding scoring score;
Steps A 5, after a trial terminates, wherein N number ofly stimulate corresponding eeg data all processed, draw N number of scoring score, select the flicker group that 2 maximum scoring score represent, obtain the corresponding command;
If the order that steps A 6 obtains exists, be recorded, be not so abandoned;
If the order that steps A 7 continuous print two trial draw all exists, and identical, this order exports as control signal, and suspend flicker stimulates order to send simultaneously; Just export if swinging of signal rule is set to coming to the same thing of more wheels trial; If or swinging of signal rule be set to many wheel trial identical, simultaneously trial need reach certain quantity and just export.
As a preferred embodiment of the present invention, vision induced equipment provides two kinds of control inerface: photographic head and intelligent vehicle control inerface, wheelchair control interface, and user carries out the switching of two kinds of control inerface as required.
As a preferred embodiment of the present invention, the button commands important for part selects unique flicker group, to guarantee that this button can not by wrong choice.
As a preferred embodiment of the present invention, described intelligent vehicle has wireless communication module, the control instruction that acknowledge(ment) signal processing module is sent by wireless signal; Intelligent vehicle can make the action of two degree of freedom, namely seesaws, and left and right turn;
Intelligent vehicle carries photographic head clouds terrace system, can carry out the conversion photographic head angle in two degree of freedom, wheelchair can be used to move to user vision dead zone and observe according to wireless command;
Wheelchair accepts wireless serial order to operate, and is similar to intelligent vehicle and equally makes movement all around, and has fine motion and significantly mobile two steps;
Video is by camera collection, and the video information can observed by wireless real-time passback is to user.
The above-mentioned control method moving the disabled assisting system of eye based on brain control, described method comprises the steps:
Vision induced equipment provides the User Interface of whole system, and user whole process utilizes this interface to control;
Signal collecting device gathers the brain electrical acti at scalp place, the analogue signal collected is changed into digital signal, is transferred to signal processing module;
The data that signal processing module real-time analysis collects; Brain wave data is input to signal processing module from signal collecting device, and computer will carry out the fertile hereby bandpass filtering of Bart to data, and feature extraction, finally utilizes Bayes's linear classifier to classify; Signal processing module is Control release flow process also; Signal processing module controls whole experiment flow simultaneously, sends control instruction to vision induced equipment, peripheral control unit;
The control instruction that peripheral control unit can send according to signal processing module does corresponding action.
As a preferred embodiment of the present invention, before first time uses, need to gather off-line data training classifier, the collection of off-line data comprises the steps: that (1) user watches order button attentively according to prompting, the number of times that on the left of silent this button of number, face occurs; (2) all buttons can repeat repeatedly according to stimulus sequence, and user watches next target attentively according to prompting subsequently; (3) after completing the target of some, terminate offline collection;
Signal processing module Modling model, after comprising the steps: that (1) stimulates each, gathers 800ms eeg data, filtering, feature extraction; (2) eeg data that each stimulates is marked: target or non-targeted; (3) training classifier production model;
Before user first time use system, arrange the content of training classifier production model, described signal processing module stimulates calculating flicker according to the following rules the order occurred; (1) can not there are flicker stimulation 2 times continuously in same position; (2) stimulation of all N groups must occur, and only occurs once, completes a trial; Next trial starts afterwards;
When needing flicker to stimulate, data processing module is according to Fixed Time Interval, and each transmission in turn in stimulus sequence stimulates group, after vision induced module receives commands, produces stimulate in respective icon.
As a preferred embodiment of the present invention, the P300 signal processing flow of described signal processing module is:
After steps A 1, each flicker stimulate order to send, data processor by the deposit data that receives in the buffer;
Steps A 2, after the data in and then certain stimulus settings time go on record, program starts to process data;
Steps A 3, pretreatment, comprise the down-sampling that 1-30Hz Bart irrigates hereby bandpass filtering and at 4;
Steps A 4, pretreated feature are calculated by Bayes's linear classifier, draw corresponding scoring score;
Steps A 5, after a trial terminates, wherein N number ofly stimulate corresponding eeg data all processed, draw N number of scoring score, select the flicker group that 2 maximum scoring score represent, obtain the corresponding command;
If the order that steps A 6 obtains exists, be recorded, be not so abandoned;
If the order that steps A 7 continuous print two trial draw all exists, and identical, this order exports as control signal, and suspend flicker stimulates order to send simultaneously; If swinging of signal rule is set to, many wheel trial are identical just to be exported; If or swinging of signal rule is set to, and many wheel trial are identical, simultaneous wheels trial need reach certain quantity and just export.
As a preferred embodiment of the present invention, described control method comprises:
System is opened, and photographic head continues to pass picture back to bringing out in interface;
Order button on picture starts flicker;
User selects required instruction as required, the number that the corresponding blue region face of silent number occurs;
Data processing module output order controls, and flicker stimulates and stops;
Interface is brought out after slightly doing to suspend and is continued to start, and terminates until use.
Beneficial effect of the present invention is: the disabled assisting system and the control method thereof that move eye based on brain control that the present invention proposes, intelligent vehicle (mobile eye) system with wireless camera is introduced in brain control wheelchair.The vision dead zone of intelligent vehicle system exploration user, passes back traffic information and observes for user, and its resolution auxiliary, to increase the safety of wheelchair control.
The present invention devises the flicker normal form based on face, and face can bring out better P300, and relevant multiple ERP composition, can increase classification accuracy.In addition the coding of flicker and relevant blinking sequence strategy is devised.Multiple target of can simultaneously glimmering carrys out pick up speed; Part stimulates combination there will not be, and reduces and occurs mistake because of this stimulation of erroneous judgement; Reduce same target to occur to stimulate in succession, ensure the ERP signal quality comprising P300.Compare other P300 systems, effectively improve the accuracy rate of system, and then improve service efficiency.
The present invention according to the classification results closing on trial, the quantity of Dynamic controlling trial.When ensureing accuracy rate, the time that single target exports can be reduced as far as possible.If user does not watch screen attentively, because each trial exports have a large amount of randomness, system is not easy output error target.
Accompanying drawing explanation
Fig. 1 is the composition schematic diagram of present system.
Fig. 2 is the schematic diagram at the vision induced interface of the present invention.
Fig. 3 is that the present invention brings out stimulation mode schematic diagram.
Detailed description of the invention
The preferred embodiments of the present invention are described in detail below in conjunction with accompanying drawing.
Embodiment one
Refer to Fig. 1, present invention is disclosed a kind of disabled assisting system moving eye based on brain control, comprise vision induced interface, signal collecting device, signal processing module, peripheral control unit 4 parts.
(1) vision induced interface
Vision induced interface is the User Interface of whole system, and user whole process utilizes this interface to carry out controlling (as shown in Figure 2).System has two kinds of control inerface: photographic head and intelligent vehicle control inerface, wheelchair control interface, and user can carry out the switching of two kinds of control inerface as required.
Layout.User control interface comprises three parts: video Real-time Feedback frame, control command display field, face stimulus.Fig. 2 center is video Real-time Feedback frame, the video traffic information that display thecamera head returns.Top is control command display field, the first row target position display control objectives, the word feedback that in frame, feedback part display system exports.There are 10 icons in the surrounding of video frame, and those are the face stimulus with instruction picture, controls at intelligent vehicle, different with function under wheelchair control pattern, see table 1.In system cloud gray model, face stimulus, by the control according to host computer, carries out bringing out stimulation with certain rule.
Table 1
Bring out stimulation mode.As Fig. 3, produce position on the left of instruction picture for stimulating, when icon does not carry out bringing out stimulation, square frame keeps blue.When stimulating beginning, there is the face of a personality in blue region, disappears at once subsequently.
Stimulus encoding.Table 2 shows the stimulus encoding of 10 icons.Numeral in form, the group of flicker.Citing: when host computer sends order, need the stimulation of the 1st group to start, have the figure rotating savings of 1 to be lit in all corresponding forms, namely the 1st row.Numbering of part is not used, but host computer also can send relevant flicker instruction.These codings exist in order in increase system to the blinking intervals of same target, in the hope of increase bring out the quality of signal.Meanwhile, increase unnecessary flicker group, the possibility that false command is output can be reduced.The button commands important for part selects unique flicker group, avoids protecting this button by wrong choice.
| 1,7 | 4,10 | 5,11 | 2,7 |
| 1,8 | Nothing | Nothing | 2,8 |
| 1,9 | 3,9 | 6,12 | 2,9 |
Table 2
(2) signal collecting device
Signal collecting device gathers the brain electrical acti at scalp place, the analogue signal collected is changed into digital signal, is transferred to signal processing module by USB port.Before first time uses, need to gather off-line data training classifier, the collection of off-line eeg data specifically comprises the steps: that (1) user watches order button attentively according to prompting, the number of times that on the left of silent this button of number, face occurs; (2) all buttons can repeat repeatedly according to stimulus sequence, and user watches next target attentively according to prompting subsequently; (3) after completing the target of some, terminate offline collection.
(3) signal processing module
Signal processing module in use has two major functions: the 1) data that collect of real-time analysis.Brain wave data is input to signal processing module from signal collecting device, and computer will carry out the fertile hereby bandpass filtering of Bart to data, and feature extraction, finally utilizes Bayes's linear classifier to classify.2) Control release flow process.This module is simultaneously as host computer, and control whole experiment flow, to vision induced equipment, ancillary equipment sends instruction.This instruction can be, control wheelchair, intelligent vehicle moves, and photographic head The Cloud Terrace moves, and brings out changing interface, and transmission word feeds back to and brings out interface simultaneously, and control inerface glimmers.
Signal processing module, also for Modling model, after comprising the steps: that (1) stimulates each, gathers 800ms eeg data, filtering, feature extraction; (2) eeg data that each stimulates is marked: target or non-targeted; (3) training classifier production model.
(4) peripheral control unit
Peripheral control unit comprises intelligent vehicle and photographic head The Cloud Terrace (being referred to as mobile eye), wheelchair.
Intelligent vehicle accepts wireless signal and controls, and can make the action of two degree of freedom, namely, and rear motion, and left and right turn.
Intelligent vehicle has carried photographic head clouds terrace system, can carry out the conversion photographic head angle in two degree of freedom, wheelchair can be used to move to user vision dead zone and observe according to wireless command.
Wheelchair accepts wireless serial order to operate, and is similar to intelligent vehicle and equally makes movement all around, and has fine motion and significantly mobile two steps.
Video is by camera collection, and the video information can observed by wireless real-time passback is to user.
The use step of present system is as follows:
Step 1, system are opened, and photographic head continues to pass picture back to bringing out in interface;
Order button on step 2, picture starts flicker;
Step 3, user select required instruction as required, the number (first order is required to be " start ") that the corresponding blue region face of silent number occurs;
Step 4, data processing module output order control, and flicker stimulates and stops;
Step 5, interface are brought out after slightly doing to suspend and are continued to start, and terminate until use.
The treatment step that visual stimulus controls comprises: before user first time use system, arrange the content of training classifier production model, data processing module stimulates calculating flicker according to the following rules the order occurred: flicker stimulation 2 times can not appear in same position continuously; All 12 groups of stimulations must occur, and only occur once, complete a trial (wheel).Next trial starts afterwards.When needing flicker to stimulate, data processing module is according to Fixed Time Interval, and each transmission in turn in stimulus sequence stimulates group, after vision induced module receives commands, produces stimulate in respective icon.
Before first time uses, need to gather off-line data training classifier, the collection of off-line eeg data, specifically comprises the steps: that (1) user watches order button attentively according to prompting, the number of times that on the left of silent this button of number, face occurs; (2) all buttons can repeat repeatedly according to stimulus sequence, and user watches next target attentively according to prompting subsequently; (3) after completing the target of some, terminate offline collection.
The modeling of signal processing module comprises the steps: that (1) is to after each stimulation, gathers 800ms eeg data, filtering, feature extraction; (2) eeg data that each stimulates is marked: target or non-targeted; (3) training classifier production model.
The P300 signal processing flow of signal processing module comprises:
After step S1, each flicker stimulate order to send, data processor by the deposit data that receives in the buffer;
Step S2, after and then certain data of 800ms stimulated goes on record, program starts to process data;
Step S3, pretreatment, comprise the down-sampling that 1-30Hz Bart irrigates hereby bandpass filtering and at 4;
Step S4, pretreated feature are calculated by Bayes's linear classifier, draw corresponding score;
Step S5, after a trial terminates, wherein 12 stimulate corresponding eeg data all processed, draw 12 score, and select the flicker group of 2 maximum score representatives, corresponding table 2, obtains the corresponding command;
If the order that step S6 obtains exists, be recorded, be not so abandoned;
If the order that step S7 continuous print two trial draw all exists, and identical, this order exports as control signal, and suspend flicker stimulates order to send simultaneously; If swinging of signal rule is set to, many wheel trial are identical just to be exported; If or swinging of signal rule is set to, and many wheel trial are identical, simultaneous wheels trial need reach certain quantity and just export.
In sum, the disabled assisting system and the control method thereof that move eye based on brain control that the present invention proposes, introduce intelligent vehicle (mobile eye) system with wireless camera in brain control wheelchair.The vision dead zone of intelligent vehicle system exploration user, passes back traffic information and observes for user, and its resolution auxiliary, to increase the safety of wheelchair control.
The present invention devises the flicker normal form based on face, and face can bring out better P300, and relevant multiple ERP composition, can increase classification accuracy.In addition the coding of flicker and relevant blinking sequence strategy is devised.Multiple target of can simultaneously glimmering carrys out pick up speed; Part stimulates combination there will not be, and reduces and occurs mistake because of this stimulation of erroneous judgement; Reduce same target to occur to stimulate in succession, ensure the ERP signal quality comprising P300.Compare other P300 systems, effectively improve the accuracy rate of system, and then improve service efficiency.
The present invention according to the classification results closing on trial, the quantity of Dynamic controlling trial.When ensureing accuracy rate, the time that single target exports can be reduced as far as possible.If user does not watch screen attentively, because each trial exports have a large amount of randomness, system is not easy output error target.
Here description of the invention and application is illustrative, not wants by scope restriction of the present invention in the above-described embodiments.Distortion and the change of embodiment disclosed are here possible, are known for the replacement of embodiment those those of ordinary skill in the art and the various parts of equivalence.Those skilled in the art are noted that when not departing from spirit of the present invention or substitutive characteristics, the present invention can in other forms, structure, layout, ratio, and to realize with other assembly, material and parts.When not departing from the scope of the invention and spirit, can other distortion be carried out here to disclosed embodiment and change.
Claims (10)
1. move a disabled assisting system for eye based on brain control, it is characterized in that, described system comprises: vision induced interface, signal collecting device, signal processing module, peripheral control unit;
Described vision induced interface is the User Interface of whole system, and user whole process utilizes this interface to control; Vision induced interface comprises three parts: video Real-time Feedback frame, control command display field, face stimulus; The middle part at vision induced interface is video Real-time Feedback frame, the video traffic information that display thecamera head returns; Top is control command display field, the first row target target position display control objectives, feeds back the word feedback that feedback part display system exports in frame; There are some icons in the surrounding of video Real-time Feedback frame, this icon is the face stimulus with instruction picture, controls and have different control instructions, under intelligent vehicle control model under wheelchair control pattern at intelligent vehicle, control intelligent vehicle moves, under wheelchair control pattern, control wheel chair sport; In system cloud gray model, face stimulus, by the control according to host computer, brings out stimulation to set rule to carry out; Bringing out stimulation mode is: produce position for stimulating on the left of instruction picture, and when icon does not carry out bringing out stimulation, square frame keeps blue; When stimulating beginning, there is the face of a personality in blue region, disappears at once subsequently; Each icon is furnished with blinking coding, the blinking intervals to same target in these coding increase systems, in the hope of increase bring out the quality of signal; Meanwhile, increase unnecessary flicker group, to reduce the possibility that false command is output; Be finally that the important button commands of part selects unique flicker group, avoid protecting this button by wrong choice;
Described signal collecting device gathers the brain electrical acti at scalp place, the analogue signal collected is changed into digital signal, is transferred to signal processing module by USB port; The data that described signal processing module collects in order to real-time analysis; Brain wave data is input to signal processing module from signal collecting device, and computer will carry out the fertile hereby bandpass filtering of Bart to data, and feature extraction, finally utilizes Bayes's linear classifier to classify; Off-line data modeling is utilized before enforcement classification.
Signal processing module, simultaneously as host computer, controls whole experiment flow, sends instruction to vision induced equipment, peripheral control unit; This instruction is as one or more in issuing orders: control wheelchair, intelligent vehicle moves, photographic head The Cloud Terrace moves, and brings out changing interface, and send word simultaneously and feed back to vision induced interface, control inerface glimmers;
Described peripheral control unit comprises mobile eye, wheelchair; Mobile eye comprises intelligent vehicle, is arranged at the photographic head The Cloud Terrace of intelligent vehicle; The control instruction that can send according to signal processing module does corresponding action;
Before system starts, described signal processing module stimulates calculating flicker according to the following rules the order occurred; (1) can not there are flicker stimulation 2 times continuously in same position; (2) all 12 groups of stimulations must occur, and only occur once, complete one and take turns trial; Next round trial starts afterwards;
When needing flicker to stimulate, data processing module is according to Fixed Time Interval, and each transmission in turn in stimulus sequence stimulates group, after vision induced module receives commands, produces stimulate in respective icon;
Before user first time use system, need for training classifier gathers off-line data, the collection of off-line data comprises the steps:
(1) user watches order button attentively according to prompting, the number of times that on the left of silent this button of number, face occurs;
(2) all buttons can repeat repeatedly according to stimulus sequence, and user watches next target attentively according to prompting subsequently;
(3) after completing the target of some, terminate offline collection;
Described signal processing module modeling comprises the steps:
(1), after each being stimulated, 800ms eeg data is gathered, filtering, feature extraction;
(2) eeg data that each stimulates is marked: target or non-targeted;
(3) training classifier production model;
The P300 signal processing flow of described signal processing module is:
After steps A 1, each flicker stimulate order to send, data processor by the deposit data that receives in the buffer;
Steps A 2, after and then certain data of 800ms stimulated goes on record, program starts to process data;
Steps A 3, pretreatment, comprise the down-sampling that 1-30Hz Bart irrigates hereby bandpass filtering and at 4;
Steps A 4, pretreated feature are calculated by Bayes's linear classifier, draw corresponding score;
Steps A 5, after a trial terminates, wherein 12 stimulate corresponding eeg data all processed, draw 12 scoring score, and select the flicker group of 2 maximum score representatives, corresponding table 2, obtains the corresponding command;
If the order that steps A 6 obtains exists, be recorded, be not so abandoned;
If the order that steps A 7 continuous print two trial draw all exists, and identical, this order exports as control signal, and suspend flicker stimulates order to send simultaneously; If swinging of signal rule is set to, many wheel trial are identical just to be exported; If or swinging of signal rule is set to, and many wheel trial are identical, simultaneous wheels trial need reach certain quantity and just export.
2. move a disabled assisting system for eye based on brain control, it is characterized in that, described system comprises:
Vision induced equipment, in order to provide the User Interface of whole system, user whole process utilizes this interface to control;
Signal collecting device, in order to gather the brain electrical acti at scalp place, changes into digital signal by the analogue signal collected, is transferred to signal processing module;
Signal processing module, the data collected in order to real-time analysis; Brain wave data is input to signal processing module from signal collecting device, and computer will carry out the fertile hereby bandpass filtering of Bart to data, and feature extraction, finally utilizes Bayes's linear classifier to classify; Signal processing module is also in order to Control release flow process; Signal processing module controls whole experiment flow simultaneously, sends control instruction to vision induced equipment, peripheral control unit;
Peripheral control unit, comprises mobile eye, wheelchair; Mobile eye comprises intelligent vehicle, is arranged at the photographic head The Cloud Terrace of intelligent vehicle; The control instruction that can send according to signal processing module does corresponding action.
3. the disabled assisting system moving eye based on brain control according to claim 2, is characterized in that:
Signal collecting device, in order to gather eeg data, comprises the steps: that (1) user watches order button attentively according to prompting, the number of times that on the left of silent this button of number, face occurs; (2) all buttons can repeat repeatedly according to stimulus sequence, and user watches next target attentively according to prompting subsequently; (3) after completing the target of some, terminate offline collection;
Signal processing module is also used for Modling model, after comprising the steps: that (1) stimulates each, gathers 800ms eeg data, filtering, feature extraction; (2) eeg data that each stimulates is marked: target or non-targeted; (3) training classifier production model;
Before user first time use system, arrange the content of training classifier production model, described signal processing module stimulates calculating flicker according to the following rules the order occurred; (1) can not there are flicker stimulation 2 times continuously in same position; (2) stimulation of all N groups must occur, and only occurs once, completes one and takes turns trial; Next round trial starts afterwards;
When needing flicker to stimulate, data processing module is according to Fixed Time Interval, and each transmission in turn in stimulus sequence stimulates group, after vision induced module receives commands, produces stimulate in respective icon;
Each icon is furnished with blinking coding, the blinking intervals to same target in these coding increase systems, in the hope of increase bring out the quality of signal; Meanwhile, increase unnecessary flicker group, to reduce the possibility that false command is output; Be finally that the important button commands of part selects unique flicker group, avoid protecting this button by wrong choice.
4. the disabled assisting system moving eye based on brain control according to claim 2, is characterized in that:
The P300 signal processing flow of described signal processing module is:
After steps A 1, each flicker stimulate order to send, data processor by the deposit data that receives in the buffer;
Steps A 2, after the data in and then certain stimulus settings time go on record, program starts to process data;
Steps A 3, pretreatment, comprise the down-sampling that 1-30Hz Bart irrigates hereby bandpass filtering and at 4;
Steps A 4, pretreated feature are calculated by Bayes's linear classifier, draw corresponding scoring score;
Steps A 5, after a trial terminates, wherein N number ofly stimulate corresponding eeg data all processed, draw N number of scoring score, select the flicker group that 2 maximum scoring score represent, obtain the corresponding command;
If the order that steps A 6 obtains exists, be recorded, be not so abandoned;
If the order that steps A 7 continuous print two trial draw all exists, and identical, this order exports as control signal, and suspend flicker stimulates order to send simultaneously; If swinging of signal rule is set to, many wheel trial are identical just to be exported; If or swinging of signal rule is set to, and many wheel trial are identical, simultaneous wheels trial need reach certain quantity and just export.
5. the disabled assisting system moving eye based on brain control according to claim 2, is characterized in that:
Vision induced equipment provides two kinds of control inerface: photographic head and intelligent vehicle control inerface, wheelchair control interface, and user carries out the switching of two kinds of control inerface as required.
6. the disabled assisting system moving eye based on brain control according to claim 2, is characterized in that:
Described intelligent vehicle has wireless communication module, the control instruction that acknowledge(ment) signal processing module is sent by wireless signal; Intelligent vehicle can make the action of two degree of freedom, namely seesaws, and left and right turn;
Intelligent vehicle carries photographic head clouds terrace system, can carry out the conversion photographic head angle in two degree of freedom, wheelchair can be used to move to user vision dead zone and observe according to wireless command;
Wheelchair accepts wireless serial order to operate, and is similar to intelligent vehicle and equally makes movement all around, and has fine motion and significantly mobile two steps;
Video is by camera collection, and the video information can observed by wireless real-time passback is to user.
7. the described control method moving the disabled assisting system of eye based on brain control of one of claim 1 to 6, is characterized in that:
Vision induced equipment provides the User Interface of whole system, and user whole process utilizes this interface to control;
Signal collecting device gathers the brain electrical acti at scalp place, the analogue signal collected is changed into digital signal, is transferred to signal processing module;
The data that signal processing module real-time analysis collects; Brain wave data is input to signal processing module from signal collecting device, and computer will carry out the fertile hereby bandpass filtering of Bart to data, and feature extraction, finally utilizes Bayes's linear classifier to classify; Signal processing module is Control release flow process also; Signal processing module controls whole experiment flow simultaneously, sends control instruction to vision induced equipment, peripheral control unit;
The control instruction that peripheral control unit can send according to signal processing module does corresponding action.
8. control method according to claim 7, is characterized in that:
Described method comprises: before first time uses, need to gather off-line data training classifier, the collection of off-line eeg data, specifically comprises the steps: that (1) user watches order button attentively according to prompting, the number of times that on the left of silent this button of number, face occurs; (2) all buttons can repeat repeatedly according to stimulus sequence, and user watches next target attentively according to prompting subsequently; (3) after completing the target of some, terminate offline collection;
Signal processing module is also used for Modling model, after comprising the steps: that (1) stimulates each, gathers 800ms eeg data, filtering, feature extraction; (2) eeg data that each stimulates is marked: target or non-targeted; (3) training classifier production model;
Before user first time use system, grader is by train classification models; Before system starts, described signal processing module stimulates calculating flicker according to the following rules the order occurred; (1) can not there are flicker stimulation 2 times continuously in same position; (2) stimulation of all N groups must occur, and only occurs once, completes one and takes turns; Next round starts afterwards;
When needing flicker to stimulate, data processing module is according to Fixed Time Interval, and each transmission in turn in stimulus sequence stimulates group, after vision induced module receives commands, produces stimulate in respective icon.
Each icon is furnished with blinking coding, the blinking intervals to same target in these coding increase systems, in the hope of increase bring out the quality of signal; Meanwhile, increase unnecessary flicker group, to reduce the possibility that false command is output; Be finally that the important button commands of part selects unique flicker group, avoid protecting this button by wrong choice.
9. control method according to claim 7, is characterized in that:
The P300 signal processing flow of described signal processing module is:
After steps A 1, each flicker stimulate order to send, data processor by the deposit data that receives in the buffer;
Steps A 2, after the data in and then certain stimulus settings time go on record, program starts to process data;
Steps A 3, pretreatment, comprise the down-sampling that 1-30Hz Bart irrigates hereby bandpass filtering and at 4;
Steps A 4, pretreated feature are calculated by Bayes's linear classifier, draw corresponding scoring score;
Steps A 5, after a trial terminates, wherein N number ofly stimulate corresponding eeg data all processed, draw N number of scoring score, select the flicker group that 2 maximum scoring score represent, obtain the corresponding command;
If the order that steps A 6 obtains exists, be recorded, be not so abandoned;
If the order that steps A 7 continuous print two trial draw all exists, and identical, this order exports as control signal, and suspend flicker stimulates order to send simultaneously; If swinging of signal rule is set to, many wheel trial are identical just to be exported; If or swinging of signal rule is set to, and many wheel trial are identical, simultaneous wheels trial need reach certain quantity and just export.
10. control method according to claim 7, is characterized in that:
Described control method comprises:
System is opened, and photographic head continues to pass picture back to bringing out in interface;
Order button on picture starts flicker;
User selects required instruction as required, the number that the corresponding blue region face of silent number occurs;
Data processing module output order controls, and flicker stimulates and stops;
Interface is brought out after slightly doing to suspend and is continued to start, and terminates until use.
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