CN108652851A - The eye control wheelchair control method of view-based access control model location technology - Google Patents
The eye control wheelchair control method of view-based access control model location technology Download PDFInfo
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- CN108652851A CN108652851A CN201810051470.9A CN201810051470A CN108652851A CN 108652851 A CN108652851 A CN 108652851A CN 201810051470 A CN201810051470 A CN 201810051470A CN 108652851 A CN108652851 A CN 108652851A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/18—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering by patient's head, eyes, facial muscles or voice
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a kind of eye control wheelchair control method of view-based access control model location technology, multisensor between communication reliability not high problem single for eye information in the prior art.Its realization process is：(1) each color image frame of centre camera transmission captured in real-time；(2) face location of user is determined to the coloured image of each frame and outlines rectangle frame；(3) ocular of user is determined in face rectangle frame region；(4) it is accurately positioned pupil position in the ocular of user；(5) rotational orientation of user's eyeball is determined；(6) electric machine control system controling wheelchair rotates.The present invention improves the stability by eye information controling wheelchair, can reduce the information communicated between multisensor module in the continuous reliable speed for changing wheelchair movement and direction under complex environment and lose.
Description
Technical field
The invention belongs to field of computer technology, a kind of view-based access control model in human-computer interaction technique field is further related to
The eye control wheelchair control method of location technology.The present invention uses for the physical disabilities including " amyotrophic lateral sclerosis ", and realization passes through
The Rotation of eyeball of user controls eye control wheelchair, serves the handicapped crowd such as " amyotrophic lateral sclerosis ".
Background technology
Currently, wheelchair has become handicapped the elderly, the indispensable walking-replacing tool of disabled person, applicable object is very
Extensively.For the physical disabilities including amyotrophic lateral sclerosis, wheelchair can help them to move, carry out social activities, but many trouble
Person can not be by manually controlling manipulation wheelchair, and the position that whole body uniquely can move freely only has eyes, by identifying eye movement
The research controlled wheelchair there has been great significance.Currently, the technology controlled wheelchair by identifying eye movement
It is the method detection eye motion state using sensor detection not yet to develop perfect, more mature way, then uses number
It learns geometrical relationship and establishes line of sight model, finally identify the movable information in human eye portion, to be controlled accordingly wheelchair.
Patent document " intelligent wheel chair human-computer interactive control based on eye motion recognition of the Nanjing Univ. of Posts and Telecommunications in its application
System and method " (number of patent application：CN201710531252.0, publication number：CN107260420A one kind is proposed in) to pass through
The method for identifying eye motion control intelligent wheel chair.This method acquires eye electromyography signal, root by electromyographic signal collection module
The judgement to blink is realized according to myoelectricity changing features difference when blink, and realization is combined to wheelchair direction by a variety of blink modes
Control, compares electromyography signal, by the size of the difference of electromyography signal before and after calculating, realizes the control to wheelchair speed.
Shortcoming existing for this method is to identify the action of people's blink by electromyographic signal collection module, can only be a kind of dynamic by blinking
Controlled, effective information is few, in the control of direction and speed, it is one-to-many control be easy to cause control it is unstable, meeting
When consecutive variations speed and direction being needed to complex environment, it is difficult to only be controlled by blink action.
Paper " the electric wheelchair control method research based on brain electricity Yu eye electricity " that Han Jun is delivered at it (《Hangzhou electronic section
Skill university》2015) in propose a kind of method by controling wheelchair after being handled the eye electric signal of acquisition.The party
Method acquires the electro-ocular signal under the pan of subject's eyeball, by the pretreatment, feature extraction and pattern classification to electro-ocular signal, and
Pattern classification result is mapped as order, and then controls electric wheelchair and advances, turns left, turns right and stop.Existing for this method not
Foot place is, by the processing between multiple sensors module, to realize the prediction to eye information, signal is between crossing multimode
Be easy to cause information loss in communication, control accuracy and real-time all it is difficult to ensure that.
Currently, by identifying that the technology that Rotation of eyeball controls wheelchair still has very big defect, mostly by a variety of
Sensor obtains Eyeball motion information, the Limited information of identification, and practical application has difficulties, more without residual for " amyotrophic lateral sclerosis " etc.
Hinder the wheelchair of personage, be based on this, it is proposed that the eye control wheelchair control method of view-based access control model location technology, helps to include " gradually freezing
The better controling wheelchair of physical disabilities including people ".
Invention content
It is an object of the invention to the deficiencies for above-mentioned prior art, propose a kind of eye control of view-based access control model location technology
Wheelchair control method, the present invention use the image shot to common camera by vision positioning technology to handle, and reach real
When accurately control wheelchair movement effect.
Realize that the object of the invention is as follows：
The method is to utilize vision positioning technical controlling eye control wheel chair sport, and it is universal that this controls the left and right installed on wheelchair
It is provided with left and right holder on wheel, the centre camera for shooting user's eye motion information, eye control are provided on right support
It is fixed with behind wheelchair for executing this control wheelchair algorithm, the central processing unit of control eye control wheelchair movement and motor control system
The specific steps of system, this method include as follows：
(1) each color image frame of transmission centre camera transmission captured in real-time：
(1a) shoots the eye motion information of user using the camera being mounted in front of eye control wheelchair；
Each color image frame of centre camera captured in real-time is transferred to the center after being fixed on eye control wheelchair by (1b)
Processor；
(2) rectangle frame of the face location of user is determined：
Each color image frame is divided into 25 rectangular areas by (2a), utilizes face linear Haar characteristic values calculating side
Method extracts the linear Haar characteristic values of face of user in each region；
(2b) with rectangle frame outline Haar characteristic values linear more than 0 face residing for rectangular area, as user's
Face rectangle frame；
(3) ocular of user is determined：
The face rectangle frame of user is divided into 25 rectangular areas by (3a), is calculated each in each rectangular area
The Grad of pixel；
(3b) is averaged the Grad summation in each rectangular area, and outlining Grad with rectangle frame is more than averagely
The rectangular area of value, the ocular as user；
(4) best central point is determined：
Using location of the core formula user's eye area is determined from the doubtful central point for user's ocular
The best central point in domain；
(5) rotational orientation and rotational angle of user's eyeball are determined：
(5a) when being seen forwards with user's eyes the location of best central point be reference coordinate point, with each frame figure
The transverse and longitudinal coordinate value of the best central point of user's ocular, is individually subtracted the transverse and longitudinal coordinate value of reference coordinate point as in, uses
Result after 2 transverse and longitudinal coordinate values work differences respectively positions user's Rotation of eyeball orientation；
(5b) takes absolute value to the result after making difference, and is normalized in [0,1] section；
The angle value that [0,1] section Continuous Mappings are the rotation of eye control wheelchair, 0 is indicated the angle of eye control wheelchair rotation by (5c)
It it is 0 degree, 1 indicates that the angle of rotation is 90 degree；
(5d) the Rotation of eyeball orientation and angle information of positioning are converted to bearing signal and angle signal is transferred to motor
Control system；
(6) control eye control wheelchair rotation：
Electric machine control system controls direction and the angle of motor rotation according to the bearing signal and angle signal received, from
And control direction and the angle of eye control wheelchair movement.
The present invention has the following advantages compared with prior art：
First, since the present invention is provided with the center camera shooting for shooting user's eye motion information on right support
Head shoots the entire facial area of user by centre camera, overcomes and pass through single-sensor in the prior art
The effective information that acquisition eye information obtains is few, and in the control of wheelchair moving direction and speed, one-to-many control is be easy to cause
Control unstable problem.So that the present invention improves the stability by identifying eye motion information controling wheelchair, Neng Gou
When in face of complex environment, the continuous reliable speed for changing wheelchair movement and direction.
Second, since the present invention will be directly translated into control instruction to the handling result for shooting image, it is transferred to motor control
System processed transmits the method handled, therefore without acquiring eye signal using by sensor between multiple modules
It need not be communicated between multiple modules, overcome the problem of information is lost in multimode communication process in the prior art.
So that the present invention improves the reliability of information transmission, while improving the accuracy and real-time of controling wheelchair movement.
Description of the drawings
Fig. 1 is the flow chart of the present invention；
Fig. 2 is the eye control Wheelchair structure figure of the present invention.
Specific implementation mode
The present invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig.1, the specific steps of the present invention are further described.
Step 1, each color image frame of transmission centre camera transmission captured in real-time.
Using the camera in front of eye control wheelchair, the eye motion information of user is shot.
By each color image frame of centre camera captured in real-time, the central processing that is transferred to after being fixed on eye control wheelchair
Device.
Step 2, the rectangle frame of the face location of user is determined.
Each color image frame is divided into 25 rectangular areas, using the linear Haar features value calculating method of face,
Extract the linear Haar characteristic values of face of user in each region.
The linear Haar features value calculating method of the face is as follows：
The RGB rgb value of each pixel in each region is averaged, the gray value of each pixel is obtained.
To being averaged after maximum gray value in all pixels point and the summation of minimum gray value, intermediate grey values are obtained.
The pixel that will be greater than intermediate grey values is set as white pixel point, and the pixel less than intermediate grey values is set as
Black pixel point.
With sums that are all white pixel point values and subtracting all black picture element point values, the people of user in the region is obtained
The linear Haar characteristic values of face.
With rectangle frame outline Haar characteristic values linear more than 0 face residing for rectangular area, the face as user
Rectangle frame.
Step 3, the ocular of user is determined.
The face rectangle frame of user is divided into 25 rectangular areas, calculates each pixel in each rectangular area
The Grad of point.
Grad summation in each rectangular area is averaged, Grad is outlined more than average value with rectangle frame
Rectangular area, the ocular as user.
Step 4, best central point is determined.
Using location of the core formula user's eye area is determined from the doubtful central point for user's ocular
The best central point in domain.
The location of the core formula is as follows：
Wherein,Indicate the best central point in user's ocular,Expression negates behaviour to the maximum value of c
Make, c indicates that the doubtful central point in user's ocular, N indicate the sum of doubtful central point in user's ocular, ∑
Indicate that sum operation, i indicate the serial number of the pixel on user's ocular edge, xiIndicate user's ocular edge
Upper ith pixel point, | | | |2Expression takes 2 norms to operate, and T indicates transposition operation, giIt indicates on user's ocular edge
The Grad of ith pixel point.
Step 5, the rotational orientation and rotational angle of user's eyeball are determined.
The location of best central point is reference coordinate point when being seen forwards with user's eyes, in each frame image
The transverse and longitudinal coordinate value of reference coordinate point is individually subtracted in the transverse and longitudinal coordinate value of the best central point of user's ocular, with 2 points
Result after transverse and longitudinal coordinate value work difference respectively positions user's Rotation of eyeball orientation.
It is described make difference with 2 transverse and longitudinal coordinate values after result positioning carried out to user's Rotation of eyeball orientation be respectively
Refer to：
2 points of abscissa value make the difference after result be positive number when, by user's eye movement positioning turn left.
2 points of abscissa value make the difference after result be negative when, by user's eye movement positioning turn right.
2 points of ordinate value make the difference after result be positive number when, by user's eye movement positioning be rotated up.
2 points of ordinate value make the difference after result be negative when, by user's eye movement positioning rotate down.
It takes absolute value to the result after work difference, and is normalized in [0,1] section.
Indicate that the angle of eye control wheelchair rotation is 0 by the angle value that [0,1] section Continuous Mappings are the rotation of eye control wheelchair, 0
Degree, 1 indicates that the angle of rotation is 90 degree.
The Rotation of eyeball orientation and angle information of positioning are converted into bearing signal and angle signal is transferred to motor control
System.
Step 6, control eye control wheelchair rotation.
Electric machine control system controls direction and the angle of motor rotation according to the bearing signal and angle signal received, from
And control direction and the angle of eye control wheelchair movement.
The bearing signal and angle signal that the foundation receives, the direction of control motor rotation and angle refer to：
It turns left if bearing signal is user's Rotation of eyeball orientation of positioning, it is left that electric machine control system controls motor
Turn, and according to the angle of the angle signal control motor rotation received, turns left to control eye control wheelchair.
It turns right if bearing signal is user's Rotation of eyeball orientation of positioning, it is right that electric machine control system controls motor
Turn, and according to the angle of the angle signal control motor rotation received, turns right to control eye control wheelchair.
It is rotated up if bearing signal is user's Rotation of eyeball orientation of positioning, before electric machine control system controls motor
Turn, and according to the angle of the angle signal control motor rotation received, is moved forward to control eye control wheelchair.
It is rotated down if bearing signal is user's Rotation of eyeball orientation of positioning, after electric machine control system controls motor
Turn, and according to the angle of the angle signal control motor rotation received, is moved backward to control eye control wheelchair.
With reference to the structural schematic diagram of 2 control wheelchairs of attached drawing, the specific steps realized to the present invention are further described.
It is provided with left socle 1 and right support 2 on eye control wheelchair, is provided on right support 2 for shooting user's eye fortune
The coloured image of user's eye of the camera captured in real-time is sent to central processing unit by the centre camera 3 of dynamic information
4, central processing unit 4 handles the coloured image of reception in real time, identify the information such as Rotation of eyeball orientation and angle, and by its
Corresponding control signal is converted to, electric machine control system 5 is real-time transmitted to.Control signal of the electric machine control system 5 according to reception
Direction and the angle for controlling motor rotation, are turned left, turn right, advance, retreat etc. to move to control eye control wheelchair.
When using eye control wheelchair, left socle and right support are opened first, helps user to be seated in wheelchair, sitting posture is adjusted
It is closed left socle and right support after to comfortable position, and adjusts the orientation and direction of centre camera according to the sitting posture of user,
Start eye control wheelchair.After eye control wheelchair starts, centre camera starts to shoot the eye coloured image of user, and by cromogram
It is handled as being transmitted to central processing unit, by treated, control signal is sent to electric machine control system to central processing unit, electricity
Machine control system is according to the control signal control motor rotation received, to drive eye control wheelchair to be moved accordingly.Specifically
, when (right side) rotates user's eyeball to the left, after central processing unit processing, motor is controlled by electric machine control system and drives eye
Controlling wheelchair, (right side) rotates to the left；When user's eyeball is to when upper (lower) rotation, after central processing unit is handled, passing through motor control is
System control motor drives eye control wheelchair (rear) mobile forward, and in use, the left socle and right support being closed at are used for
Protect the safety of user.After eye control wheelchair use, eye control wheelchair power supply is closed, left socle and right support are opened, side
User is helped to stand up to leave eye control wheelchair.
Claims (5)
1. a kind of eye control wheelchair control method of view-based access control model location technology, which is characterized in that the right support of the eye control wheelchair
On be provided with centre camera for shooting user's eye motion information, by user's eye of the camera captured in real-time
Coloured image, be sent to central processing unit and handled, for control motor rotation direction and angle, to realize to eye
The control of wheelchair moving direction and angle is controlled, the specific steps of this method include as follows：
(1) each color image frame of transmission centre camera transmission captured in real-time：
(1a) shoots the eye motion information of user using the camera being mounted in front of eye control wheelchair；
(1b) by each color image frame of centre camera captured in real-time, the central processing that is transferred to after being fixed on eye control wheelchair
Device；
(2) rectangle frame of the face location of user is determined：
Each color image frame is divided into 25 rectangular areas by (2a), using the linear Haar features value calculating method of face,
Extract the linear Haar characteristic values of face of user in each region；
(2b) with rectangle frame outline Haar characteristic values linear more than 0 face residing for rectangular area, the face as user
Rectangle frame；
(3) ocular of user is determined：
The face rectangle frame of user is divided into 25 rectangular areas by (3a), calculates each pixel in each rectangular area
The Grad of point；
(3b) is averaged the Grad summation in each rectangular area, and Grad is outlined more than average value with rectangle frame
Rectangular area, the ocular as user；
(4) best central point is determined：
Using location of the core formula user's ocular is determined from the doubtful central point for user's ocular
Best central point；
(5) rotational orientation and rotational angle of user's eyeball are determined：
(5a) when being seen forwards with user's eyes the location of best central point be reference coordinate point, in each frame image
The transverse and longitudinal coordinate value of reference coordinate point is individually subtracted in the transverse and longitudinal coordinate value of the best central point of user's ocular, with 2 points
Result after transverse and longitudinal coordinate value work difference respectively positions user's Rotation of eyeball orientation；
(5b) takes absolute value to the result after making difference, and is normalized in [0,1] section；
(5c) indicates that the angle of eye control wheelchair rotation is 0 by the angle value that [0,1] section Continuous Mappings are the rotation of eye control wheelchair, 0
Degree, 1 indicates that the angle of rotation is 90 degree；
(5d) the Rotation of eyeball orientation and angle information of positioning are converted to bearing signal and angle signal is transferred to motor control
System；
(6) control eye control wheelchair rotation：
Electric machine control system is according to the bearing signal and angle signal received, the direction of control motor rotation and angle, to control
The direction of eye control wheelchair movement processed and angle.
2. the eye control wheelchair control method of view-based access control model location technology according to claim 1, which is characterized in that step
The linear Haar features value calculating method of face described in (2a) is as follows：
The first step is averaged the RGB rgb value of each pixel in each region, obtains the gray value of each pixel；
Second step obtains middle gray to being averaged after maximum gray value in all pixels point and the summation of minimum gray value
Value；
Third walks, and the pixel that will be greater than intermediate grey values is set as white pixel point, and the pixel less than intermediate grey values is set
It is set to black pixel point；
4th step obtains user in the region with sums that are all white pixel point values and subtracting all black picture element point values
The linear Haar characteristic values of face.
3. the eye control wheelchair control method of view-based access control model location technology according to claim 1, which is characterized in that step
(4) the location of the core formula described in is as follows：
Wherein,Indicate the best central point in user's ocular,Indicate the maximum value inversion operation to c, c
Indicate that the doubtful central point in user's ocular, N indicate that the sum of doubtful central point in user's ocular, ∑ indicate
Sum operation, i indicate the serial number of the pixel on user's ocular edge, and xi indicates on user's ocular edge the
I pixel, | | | |2Expression takes 2 norms to operate, and T indicates transposition operation, giIt indicates on user's ocular edge i-th
The Grad of pixel.
4. the eye control wheelchair control method of view-based access control model location technology according to claim 1, which is characterized in that step
Described in (5a) make difference with 2 transverse and longitudinal coordinate values after result positioning carried out to user's Rotation of eyeball orientation respectively refer to：
A. when the result after 2 points of abscissa value makes the difference is positive number, user's eye movement positioning is turned left；
B. when the result after 2 points of abscissa value makes the difference is negative, user's eye movement positioning is turned right；
C. when the result after 2 points of ordinate value makes the difference is positive number, user's eye movement positioning is rotated up；
D. when the result after 2 points of ordinate value makes the difference is negative, user's eye movement positioning is rotated down.
5. the eye control wheelchair control method of view-based access control model location technology according to claim 1, which is characterized in that step
(6) bearing signal and angle signal that the foundation described in receives, the direction of control motor rotation and angle refer to：
It turning left if bearing signal is user's Rotation of eyeball orientation of positioning, electric machine control system controls motor and turns left,
And it according to the angle of the angle signal control motor rotation received, turns left to control eye control wheelchair；
It turning right if bearing signal is user's Rotation of eyeball orientation of positioning, electric machine control system controls motor and turns right,
And it according to the angle of the angle signal control motor rotation received, turns right to control eye control wheelchair；
It being rotated up if bearing signal is user's Rotation of eyeball orientation of positioning, electric machine control system controls motor forward,
And it according to the angle of the angle signal control motor rotation received, is moved forward to control eye control wheelchair；
It being rotated down if bearing signal is user's Rotation of eyeball orientation of positioning, electric machine control system turns after controlling motor,
And it according to the angle of the angle signal control motor rotation received, is moved backward to control eye control wheelchair.
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| CN201810051470.9A CN108652851B (en) | 2018-01-19 | 2018-01-19 | Eye-controlled wheelchair control method based on visual positioning technology |
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| CN114555026A (en) * | 2018-11-14 | 2022-05-27 | 欧哈德·帕兹 | Reclining/lifting chair |
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| CN112835444A (en) * | 2019-11-25 | 2021-05-25 | 七鑫易维(深圳)科技有限公司 | Method, device and equipment for adjusting use angle of eye control all-in-one machine and storage medium |
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| Publication number | Publication date |
|---|---|
| CN108652851B (en) | 2023-06-30 |
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