CN105125355A - Tongue control system and tongue control method for disabled-aid wheelchair - Google Patents
Tongue control system and tongue control method for disabled-aid wheelchair Download PDFInfo
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- CN105125355A CN105125355A CN201510500634.8A CN201510500634A CN105125355A CN 105125355 A CN105125355 A CN 105125355A CN 201510500634 A CN201510500634 A CN 201510500634A CN 105125355 A CN105125355 A CN 105125355A
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Abstract
The invention provides a tongue control system and a tongue control method for a disabled-aid wheelchair. The tongue control system comprises a sensor detection module, a wireless transmission module, a microprocessor and an actuator. The sensor detection module is used for detecting signals of tongue movement direction ; the wireless transmission module is used for transmitting the signals of tongue movement direction to the microprocessor; the microprocessor is used for processing and transforming the signals of tongue movement direction, transmitted by the wireless transmission module, into control signals, and then sending the control signals to the actuator; the actuator is used for actuating actions corresponding to the control signals according to the received control signals. By the tongue control system and the tongue control method, the problem that a quadriplegic is incapable of taking care himself in daily life is solved.
Description
Technical field
The present invention relates to walking-replacing tool technical field, more specifically, relate to a kind of tongue control system and method thereof of invalid wheelchair.
Background technology
According to statistics, people with disability's sum in the whole world, more than 1,000,000,000, accounts for 15% of population in the world.China people with disability adds up to 8,502 ten thousand people, wherein physical disabilities 2,414 ten thousand people.People's quadriplegia that disabled degree is heavy, daily life self-care ability is low, needs kinsfolk or special nursing staff nursing, adds a lot of troubles to the family of patient.
The life convenience issue of World Developed Countries to quadriplegia patient is paid much attention to, and carrying out the research of various environment control unit always, some ability of striving enabling quadriplegia patient utilize health existing is to handle these devices to reach or close to the ability of abled person's control appliance, as feed of drinking water, turn over book reading, switch household electrical appliance, make a phone call, see TV, switch gate, operation computer and wheelchair etc., release portioned product at present, improve the animation of people with disability.But current quadriplegia patient also exists very large problem in life, therefore also need to carry out improving to wheelchair to improve, to improve their quality of life further.
Summary of the invention
In view of the above problems, the object of this invention is to provide a kind of tongue control system and control method thereof of invalid wheelchair, to solve the problem that quadriplegia minimal invasive treatment can not take care of oneself further.
The invention provides a kind of tongue control system of invalid wheelchair, comprise sensing detection module, wireless transport module, microprocessor and actuator; Wherein,
Sensing detection module, for detecting the signal of the direction of motion of tongue;
Wireless transport module, for the Signal transmissions of the direction of motion by tongue to microprocessor;
Microprocessor, the signal for the direction of motion of tongue transmitted by wireless transport module carries out process and converts control signal to, control signal is sent to actuator simultaneously;
Actuator, for according to the control signal received, performs the action corresponding to control signal.
The present invention also provides a kind of control method of invalid wheelchair, and control the invalid wheelchair that above-mentioned tongue controls, wherein, control method comprises:
Detected by the direction of motion of four capacitive approach switches to tongue of sensing detection module, obtain the signal of the direction of motion of tongue;
Wireless transport module by the Signal transmissions of the direction of motion of tongue to microprocessor;
Microprocessor carries out judgement process to the signal of the direction of motion of tongue, and converts the control signal to invalid wheelchair to, control signal is sent to actuator simultaneously;
Actuator, according to the control signal received, performs the action corresponding to control signal, to realize the control to invalid wheelchair.
From technical scheme above, the tongue control system of invalid wheelchair provided by the invention and method thereof, the motion of sensor to tongue of electric vortex type is adopted to detect, and convert the signal of the motion of tongue the control signal of wheelchair to by wireless communication module and microprocessor, realize wheelchair motor control all around, thus help people with disability's realization self-care to a certain degree.
In order to realize above-mentioned and relevant object, will describe in detail and the feature particularly pointed out in the claims after one or more aspect of the present invention comprises.Explanation below and accompanying drawing describe some illustrative aspects of the present invention in detail.But what these aspects indicated is only some modes that can use in the various modes of principle of the present invention.In addition, the present invention is intended to comprise all these aspects and their equivalent.
Accompanying drawing explanation
By reference to the content below in conjunction with the description of the drawings and claims, and understand more comprehensively along with to of the present invention, other object of the present invention and result will be understood and easy to understand more.In the accompanying drawings:
Fig. 1 is the tongue Control system architecture block diagram of the invalid wheelchair according to the embodiment of the present invention;
Fig. 2 is the sensing detection modularized experiment debugging schematic flow sheet according to the embodiment of the present invention;
Fig. 3 is the wireless transport module experimental debugging schematic flow sheet according to the embodiment of the present invention;
Fig. 4 is the pin schematic diagram of the wireless transport module according to the embodiment of the present invention;
Fig. 5 sends subroutine flow schematic diagram according to the signal of the embodiment of the present invention;
Fig. 6 accepts subroutine flow schematic diagram according to the signal of the embodiment of the present invention;
Fig. 7 is the pin schematic diagram of the liquid crystal display according to the embodiment of the present invention;
Fig. 8 is the circuit diagram of the microprocessor according to the embodiment of the present invention;
Fig. 9 is the actuator workflow schematic diagram according to the embodiment of the present invention;
Figure 10 is the wheelchair control flow chart according to the embodiment of the present invention;
Figure 11 is the tongue control method schematic diagram of the invalid wheelchair according to the embodiment of the present invention.
Label identical in all of the figs indicates similar or corresponding feature or function.
Detailed description of the invention
In the following description, for purposes of illustration, in order to provide the complete understanding to one or more embodiment, many details have been set forth.But, clearly, also these embodiments can be realized when there is no these details.
Very large problem is also there is in the current quadriplegia patient for aforementioned proposition in life, the invention provides a kind of tongue control system and method thereof of invalid wheelchair, people with disability's tongue is implanted the metal touch controller that has magnet, when tongue movements, sensor can catch the direction of motion of tongue and control wheelchair, thus improve animation and the quality of life of quadriplegia patient further, set up the bridge between disabled human and environment, quadriplegia patient is made to have recovered self care ability in varying degrees, confidence and the courage of he quadriplegia minimal invasive treatment can be strengthened, improve their quality of life, alleviate its burden to family.
Below with reference to accompanying drawing, specific embodiments of the invention are described in detail.
In order to the structure of the tongue control system of invalid wheelchair provided by the invention is described, Fig. 1 shows the tongue Control system architecture of the invalid wheelchair according to the embodiment of the present invention.
As shown in Figure 1, the tongue control system 100 of invalid wheelchair provided by the invention, comprises sensing detection module 110, wireless transport module 120, microprocessor 130 and actuator 140; Wherein,
Sensing detection module 110 for detecting the signal of the direction of motion of tongue, and obtains the signal of the direction of motion of tongue;
Wireless transport module 120 for the Signal transmissions of the direction of motion by tongue to microprocessor;
Microprocessor 130 carries out process for the signal of the direction of motion of tongue transmitted by wireless transport module and converts control signal to, control signal is sent to actuator simultaneously;
Actuator 140, for according to the control signal received, performs the action corresponding to control signal.
Above-mentioned is the logical structure of the tongue control system of invalid wheelchair, each structure of detailed description native system how to be controlled invalid wheelchair below, Fig. 2 to Figure 10 has carried out exemplary sign to the structure of the tongue control system of invalid wheelchair respectively from different perspectives.
Particularly, Fig. 2 shows the sensing detection modularized experiment debugging flow process according to the embodiment of the present invention, in the embodiment shown in Figure 2, in the process of sensing detection modularized experiment debugging, need sensor detection module (four capacitive approach switches), a microprocessor and four LED.Because sensing detection module comprises four capacitive approach switches (being all capacitive approach switch of the sensor employing in the present invention), in this experiment, sensor assembly is connected with a microprocessor, wherein, microprocessor in experimental debugging adopts MSP430F149 chip, and capacitive approach switch comprises sensing element and voltage branch circuit; Four capacitive approach switches in sensing detection module, when the sensing element in one of them capacitive approach switch detects that metal signal (in the present invention, metal signal is exactly the signal of tongue movements) time, the LED that Microprocessor S3C44B0X is corresponding is bright, metal signal detected with display, and the metal signal of detection is transferred out by wireless transport module.It should be noted that, sensing element refers to experience measured variable delicately and the element making response, is the part that in sensor (referring to capacitive approach switch in the present invention), energy direct feeling is measured.
Fig. 3 shows the wireless transport module experimental debugging flow process according to the embodiment of the present invention, in the embodiment shown in fig. 3, in the process of wireless transport module experimental debugging, need wireless transport module (transmitting terminal and receiving terminal), a microprocessor and a liquid crystal display.Because wireless transport module adopts NRF24L01 chip, microprocessor also adopts MSP430F149 chip.Wireless transport module comprises transmitting terminal and receiving terminal; Wherein, the metal signal that sensor detection module detects by transmitting terminal is sent to receiving terminal, when after receiving terminal Received signal strength, shows the duty of four capacitive approach switches under the control of a microprocessor on a liquid crystal display.
Wherein, it should be noted that, in this experimental debugging process, the metal signal of four capacitive approach switch difference corresponding front, rear, left and right four directions.When metal signal not detected, liquid crystal display shows four capacitive approach switches does not all have signal; When one of them capacitive approach switch detects metal signal, the signal that liquid crystal display display is corresponding.
In the present invention, Fig. 4 shows the pin configuration of the wireless transmission mould according to the embodiment of the present invention.That wireless transport module uses is NRF24L01, NRF24L01 is a monolithic wireless transceiver chip being operated in 2.4 ~ 2.5GHz Global Access ISM band.The NRF24L01 feature that can be operated under EnhancedShockBurst transceiver mode more makes it to have an impact to the application in monitoring field, under EnhancedShockBurst transceiver mode, use the FIFO stack area in sheet, data low speed is sent into from MCU (single-chip microcomputer), but (1Mbit/s) launches at a high speed, so both can be energy-conservation, obtaining very high rf data emission rate when using low speed again, also reducing the average operating current of whole system simultaneously.
As can be seen from the embodiment of Fig. 2, Fig. 3 and Fig. 4, the metal signal that sensor detection module detects by transmitting terminal is sent to receiving terminal, and after receiving terminal receives signal, and show on a liquid crystal display.How metal signal is sent to receiving terminal by introducing transmitting terminal in detail below, and receiving terminal is the data how receiving wireless transmission, and shows on a liquid crystal display after data are processed.Fig. 5 and Fig. 6 respectively illustrates and sends subroutine flow according to the signal of the embodiment of the present invention and signal accepts subroutine flow.
In the embodiment shown in fig. 5, signal sends subprogram is gone out by wireless transmission by the metal signal that sensing detection module detects.Four sensors (capacitive approach switch) connect the low four of single-chip microcomputer (microprocessor) P6 mouth, when sensor detects signal, output be low level.As long as therefore the input state extracting P6 mouth just can know which sensor has signal, and this state is sent with wireless.
Particularly, as shown in Figure 5, the idiographic flow of signal transmission subprogram comprises: S510: start;
S520: wireless I/O initializes;
S530: configure wireless depositor;
S540: extract P6 mouth input state;
S550: sent out by P6 mouth input state, returns step S540 until all sent by P6 mouth input state.
In the embodiment shown in fig. 6, signal accepts the data (output) that subprogram accepts other wireless transmissions always, and shows on a liquid crystal display after data simply being processed.Particularly, as shown in Figure 6, the idiographic flow that signal accepts subprogram comprises:
S610: start;
S620: wireless I/O initializes;
S630: configure wireless depositor;
S640: the data accepting other wireless transmissions;
S650: signal processing also shows, returns S640 until the data of acceptance all processed and show.
In sum, the embodiment shown in common as can be seen from Fig. 5 and Fig. 6, transmitting terminal is that metal signal sensor detection module detected by signal transmission subprogram is sent; Receiving terminal accepts by signal the signal that subprogram receiving sensor detection module detects, and carried out processing rear display on a liquid crystal display by the signal received.
In addition, in the process of wireless transport module work, after receiving terminal Received signal strength, the duty of four capacitive approach switches is shown on a liquid crystal display.Fig. 7 shows the pin of the liquid crystal display according to the embodiment of the present invention, as shown in Figure 7, the liquid crystal display that the present invention adopts is LCD12864.12864 liquid crystal picture display, this liquid crystal display can show letter, digit symbol, middle character type and figure, has drawing and text screen mixed display function.This liquid crystal display provides three kinds of control interfaces, is 8-bit microprocessor interface respectively, 4 bit microprocessor interface and serial line interfaces.All functions, comprise display random access memory, font generator, are included in inside a chip, as long as the microprocessing systems that is minimum, and just can handled easily.
Fig. 8 shows the circuit structure of the microprocessor according to the embodiment of the present invention, as shown in Figure 8, microprocessor adopts MSP430F149, MSP430F149 is the single-chip microcomputer that Dezhou company class newly developed has the band FLASH of 16 BITBUS network, it adopts the bus of 16, peripheral hardware and internal memory unified addressing, addressing range can reach 64K, can also external expansion memorizer. there is unified interrupt management, there is peripheral module on abundant sheet, sophisticated hardware multiplier is had in sheet, 16 bit timing devices, the analog-digital converter of 12 on 14 tunnels, a house dog, 6 road P mouths, two-way USART COM1, a comparator, a DCO internal oscillator and two external clocks, support that the clock of 8M is convenient and practical, can at super low-power consumption MODE of operation, little to the radiation of environment and human body, adapt to the running environment of technical grade, be applicable to the equipment of the automatic control making handle and so on.
Fig. 9 shows the actuator workflow according to the embodiment of the present invention, the embodiment shown in Fig. 9 as, actuator 140 comprises supplying cell 144, left motor 142, right motor 143, driver module 141 and voltage reduction module 145.Wherein, driver module 141 moves for driving left motor 142 and right motor 143.Voltage reduction module 145, for carrying out blood pressure lowering, for microprocessor 130 to the voltage of supplying cell 144.
Particularly, supplying cell adopts the lithium battery of 7.4V, motor and microprocessor power supply to the left and right; Driver module adopts L298N, and for driving two DC speed-reducing (left motor and right motor), the voltage of lithium battery is dropped to 3.3V for microprocessor by voltage reduction module.As shown in Figure 9, microprocessor 130 pairs of metal signals process, and convert the control signal of wheelchair to, and by control signal, be sent to the driver module 141 of actuator 140, driver module 141 drives left motor 142 or right motor 143 according to the control signal received.
In the present invention, as shown in Figure 9, supplying cell 144 passes through voltage reduction module 145 by the voltage range required for voltage step-down to microprocessor 130, for microprocessor 130 provides voltage.Voltage reduction module 145 input voltage 4.0 ~ 38V, adjustable output voltage scope 1.25V ~ 36V continuously adjustabe, output current can reach 5A, output 75W, and conversion efficiency is high, can reach 96%, has overtemperature protection and short-circuit protection function.
It should be noted that, actuator drives chooser program to perform corresponding action by wheelchair, wheelchair drives chooser program according to the motion of the data selection wheelchair accepted, and removing four kinestates all around, other times wheelchair is in motor braking state always.Figure 10 shows the wheelchair control flow process according to the embodiment of the present invention, and as shown in Figure 10, the concrete control flow of wheelchair comprises: S001: start;
S002: receiving data 0 is 0? if Y, then perform S003; If N, then perform S004;
S003: wheelchair advances;
S004: receiving data 1 is 0? if Y, then perform S005; If N, then perform S006;
S005: wheelchair rollback;
S006: receiving data 2 is 0? if Y, then perform S007; If N, then perform S008;
S007: wheelchair turns left;
S008: receiving data 3 is 0? if Y, then perform S009; If N, then perform S010;
S009: wheelchair is turned right;
S010: wheelchair brake;
S011: terminate.
Above-mentioned Fig. 1 to Figure 10 describes each structure in the tongue control system of invalid wheelchair and this system in detail, in the present invention, corresponding with said system, the present invention also provides a kind of tongue control method of invalid wheelchair, and Figure 11 shows the tongue control method flow process of the invalid wheelchair according to the embodiment of the present invention.
As shown in figure 11, the tongue control method of invalid wheelchair provided by the invention, controls the tongue control system of above-mentioned invalid wheelchair, and wherein, this control method comprises:
S1110: detected by four motions of capacitive approach switch to tongue of sensing detection module, obtains the signal of the direction of motion of tongue;
S1120: wireless transport module by the Signal transmissions of the direction of motion of tongue to microprocessor;
S1130: microprocessor carries out judgement process to the signal of the direction of motion of tongue, and conversion is to the control signal becoming invalid wheelchair, control signal is sent to actuator simultaneously;
S1140: actuator, according to the control signal received, performs the action corresponding to control signal, to realize the control of invalid wheelchair motion.
For the embodiment of the tongue control method of invalid wheelchair provided by the invention, the embodiment of the tongue control system of invalid wheelchair is substantially similar to due to it, relevant part illustrates see the part of the tongue control system embodiment of invalid wheelchair, repeats no more herein.
Can be found out by above-mentioned embodiment, the tongue control system of invalid wheelchair provided by the invention and method thereof, sensor (capacitive approach switch) motion to tongue is adopted to detect, and the signal of the motion of tongue is converted to the control signal of wheelchair under the effect of wireless communication module and microprocessor, realize wheelchair motor control all around, thus help people with disability's realization self-care to a certain degree.
Tongue control system and the method thereof of the invalid wheelchair proposed according to the present invention is described in an illustrative manner above with reference to accompanying drawing.But, it will be appreciated by those skilled in the art that tongue control system and the method thereof of the invalid wheelchair that the invention described above is proposed, various improvement can also be made on the basis not departing from content of the present invention.Therefore, protection scope of the present invention should be determined by the content of appending claims.
Claims (8)
1. a tongue control system for invalid wheelchair, comprises sensing detection module, wireless transport module, microprocessor and actuator; Wherein,
Described sensing detection module, for detecting the signal of the direction of motion of tongue;
Described wireless transport module, for the Signal transmissions of the direction of motion by described tongue to described microprocessor;
Described microprocessor, the signal for the direction of motion of tongue transmitted by described wireless transport module converts control signal to, described control signal is sent to described actuator simultaneously;
Described actuator, for according to the described control signal received, performs the action corresponding to described control signal.
2. the tongue control system of invalid wheelchair as claimed in claim 1, wherein,
Described sensing detection module comprises four capacitive approach switches.
3. the tongue control system of invalid wheelchair as claimed in claim 2, wherein,
Described wireless transport module adopts NRF24L01 chip, comprises transmitting terminal and receiving terminal; Wherein,
The signal that described sensor detection module detects is sent to described receiving terminal by described transmitting terminal.
4. the tongue control system of invalid wheelchair as claimed in claim 3, wherein, described transmitting terminal sends subprogram by signal and is sent by the signal that described sensor detection module detects.
5. the tongue control system of invalid wheelchair as claimed in claim 4, wherein, described receiving terminal accepts subprogram by signal and receives the signal that described sensor detection module detects.
6. the tongue control system of invalid wheelchair as claimed in claim 3, wherein,
Described actuator drives chooser program to perform corresponding action by wheelchair, and wherein, described actuator comprises supplying cell, left motor, right motor, driver module and voltage reduction module; Wherein,
Described driver module, for driving described left motor and described right motor movement;
Described voltage reduction module, for carrying out blood pressure lowering to the voltage of described supplying cell, is described microprocessor power supply.
7. the tongue control system of invalid wheelchair as claimed in claim 6, wherein,
The input voltage of described voltage reduction module is 4.0V ~ 38V, and output voltage is 1.25V ~ 36V, and output current is 5A, and output is 75W.
8. a tongue control method for invalid wheelchair, controls the tongue control system as the invalid wheelchair in claim 1-7 as described in any one, and wherein, described control method comprises:
Detected by the direction of motion of four capacitive approach switches to tongue of sensing detection module, obtain the signal of the direction of motion of described tongue;
Wireless transport module by the Signal transmissions of the direction of motion of described tongue to microprocessor;
Described microprocessor carries out judgement process to the signal of the direction of motion of described tongue, and converts the control signal to invalid wheelchair to, described control signal is sent to actuator simultaneously;
Described actuator, according to the control signal received, performs the action corresponding to described control signal, to realize the control to invalid wheelchair.
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| CN201510500634.8A CN105125355A (en) | 2015-08-13 | 2015-08-13 | Tongue control system and tongue control method for disabled-aid wheelchair |
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| CN201510500634.8A CN105125355A (en) | 2015-08-13 | 2015-08-13 | Tongue control system and tongue control method for disabled-aid wheelchair |
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| CN111538344A (en) * | 2020-05-14 | 2020-08-14 | 重庆科技学院 | Intelligent wheelchair based on face key point motion following and control method thereof |
| WO2021158130A3 (en) * | 2020-02-06 | 2023-05-04 | Al Jadidi Ahmed | Device for the quadriplegic of the electrical room appliances |
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