CN109623835B - Wheelchair manipulator system based on multi-mode information fusion - Google Patents
Wheelchair manipulator system based on multi-mode information fusion Download PDFInfo
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- CN109623835B CN109623835B CN201811477554.5A CN201811477554A CN109623835B CN 109623835 B CN109623835 B CN 109623835B CN 201811477554 A CN201811477554 A CN 201811477554A CN 109623835 B CN109623835 B CN 109623835B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
Abstract
The wheelchair manipulator system based on multi-mode information fusion simulates the process of searching a target by a human body, judging intention, approaching the target and accurately grabbing the target in an interference state. The wheelchair manipulator system based on the multi-mode information fusion mainly comprises a multi-mode information acquisition system a, an information processing fusion system b, a decision control system c and an execution system d. The multi-modal information acquisition system a is used for acquiring human body multi-modal information and surrounding environment information; the information processing fusion system b judges the intention of the human body and finally fuses the characteristic information; the decision control system c realizes the comprehensive processing of the information acquired by the multi-mode information acquisition system a and the information processing fusion system b and the preprocessing information to generate decision information; the execution system d consists of a differential wheelchair 14 and a mechanical arm 15, and realizes the execution operation of decision information, namely the approaching target movement based on the intention of a human body and the accurate grabbing of a target object.
Description
Technical Field
The invention relates to the fields of optics, informatics, intelligent control systems and wheelchair manipulators, in particular to the field of an auxiliary wheelchair manipulator for assisting the aged and disabled through multi-mode information fusion.
Background
Since the 20 th century, the combination of wheelchair and mechanical arm has been receiving much attention, and the MANUS arm of the lotus Exact Dynamics company is a relatively mature mechanical arm mounted on a wheelchair, and many MANUS-based mobile mechanical arms such as VICTORIA, raptor, FRIEND, M3S supported by technical program of the disabled and the elderly in the european union, and the facility project have been available, and in addition, korea and the like have studied on service type mobile mechanical arms, and KARES II used in combination of mobile mechanical arms and wheelchairs has been developed. In China, various service type mobile mechanical arms are also developed, such as a mobile nursing robot of the university of Qinghai, a wheelchair mechanical arm developed by the university of Shanghai traffic and Shanghai electric groups in cooperation, a six-degree-of-freedom operating arm which is developed by the university of Harbin industry and is arranged on a wheelchair, a modularized mechanical arm for helping the aged and the disabled, a vision guiding and aging assisting service robot for researching the university of southeast, and the like.
At present, the technical research of a service type mobile mechanical arm relates to the key technologies such as an architecture, man-machine interaction, motion planning, motion control and the like, and the man-machine interaction and the motion planning are undoubtedly key contents of the research, because the mobile mechanical arm or an object served by a robot is a dyskinesia person with part of action capability missing, the man-machine interaction mode selects the effect and efficiency which directly influence the communication between the person and the machine, meanwhile, the working environment of the service type mobile mechanical arm is mostly an unstructured environment with dynamic barriers, and the advantages and disadvantages of a motion planning strategy are directly related to the safety of system operation and the execution efficiency. From the existing research results, the human-computer interaction mode still adopts a limb control mode with 'machine leading', such as a mouse, a keyboard, voice and the like, but for patients with damaged brain and peripheral neuromuscular pathways, the mobile mechanical arm cannot be driven, and new challenges are provided for the research of the service type mobile mechanical arm; the motion planning is mainly performed by a traditional binary control mode for completing the preset operation, so that the actual requirements of a specific environment and a specific crowd are difficult to meet.
Disclosure of Invention
Aiming at the problems existing in the prior art, the wheelchair manipulator system based on multi-mode information fusion provided by the invention fully plays the visual characteristics of human bodies, realizes the processes of target searching, intention judging, target approaching and target grabbing of the human bodies in the visible region, provides assistance for users to the maximum extent, and improves the coordination of human-computer interaction and the robustness of the system.
In order to achieve the above purpose, the invention provides a wheelchair manipulator system based on multi-mode information fusion, which mainly comprises a multi-mode information acquisition system a, an information processing fusion system b, a decision control system c and an execution system d. The multi-mode information acquisition system a is a head-mounted information acquisition device, so that human body multi-mode information and surrounding environment information are acquired; the information processing fusion system b judges the intention of the human body and finally fuses the characteristic information; the decision control system c realizes the comprehensive processing of the information acquired by the multi-mode information acquisition system a and the information processing fusion system b and the preprocessing information to generate decision information; the execution system d consists of a differential wheelchair 14 and a mechanical arm 15, and realizes the execution operation of decision information, namely the approaching target movement based on the intention of a human body and the accurate grabbing of a target object.
The wheelchair manipulator system based on multi-mode information fusion is characterized in that: the multi-mode information acquisition system is structurally characterized in that an eye electric signal 6 acquisition device is a silver chloride patch arranged around eyes of two eyes and is used for acquiring electric signals of muscle movement during eye rotation; the electromyographic signal 7 acquisition device is a silver chloride patch arranged on two sternocleidomastoid muscles and is used for acquiring an electrical signal of neck muscle movement during head rotation and shoulder movement; the electroencephalogram signal 8 acquisition device is an Emotiv EPOC and is used for acquiring electroencephalogram signals when the brain is active; the binocular camera 5 is arranged at the temple of the binocular eye side and is used for receiving the surrounding environment information and transmitting the video image information to the decision control system c; the CCD industrial camera 4 is arranged right in front of the human head and is used for detecting a human head image 9 and an eye movement image 10, and the head image 9 detection method is used for estimating the human head posture probability based on feature point detection of an ASM algorithm; the eye movement image 10 detection method is pupil position and diameter detection method. The CCD industrial camera 4 is used as auxiliary detection equipment of the head-mounted information acquisition device, so that the detection of the movement conditions of the head and eyes of a human body is realized together.
The information processing fusion system b performs noise reduction processing on the eye electric signals 6, the electromyographic signals 7 and the brain electric signals 8 from the multi-mode information acquisition system, performs image preprocessing on the head image 9 and the eye image 10, and then performs human intention judgment. The intentional motion of the head and eyes is faster when the intentional motion is performed, so the intentional discrimination method of the electrooculogram signal 6, the electromyogram signal 7 and the electroencephalogram signal 8 is the identification of the abrupt superthreshold signal, the intentional signal is in the stable threshold range, and the abrupt superthreshold range is the unintentional signal; the method for distinguishing the head image 9 and the eye image 10 is to measure the number of the pixel points of the head and eye motion change obtained by differentiating the static images between frames, so as to judge the head and eye motion intention. Further, the intentional characteristic information is fused and sent to a decision control system c for further processing.
The man-machine interaction system 13 in the decision control system c forms a target area heat point diagram 11 according to the characteristic information of the information processing fusion system b, and judges a target object according to the characteristic information, and the process simulates the process of searching a target by human eyes and determining the target. The binocular camera 5 achieves targeting and spatial position estimation of the target object. Further, the man-machine interaction system 13 sends decision information to the controller 12 and the mechanical arm 14, and the controller 12 sends control signals to the differential wheelchair 14 to achieve target approaching and accurate grabbing.
The path planning of the mechanical arm 15 is optimized by adopting, but not limited to, an intelligent algorithm of a genetic algorithm, so that the mechanical arm can move from an initial position to a target position, and the target can be grasped.
The differential wheelchair 14 is controlled by the user to approach the target, including but not limited to head rotation, eye rotation, and brain signaling control.
The wheelchair manipulator system based on multi-mode information fusion is characterized in that: the execution flow is as follows: the binocular camera 5 is used for realizing target search in a region range, the multi-mode information acquisition system a, the information processing fusion system b and the decision control system c are used for judging human body intention under the combined action of the two systems, a target region heat point diagram 11 is generated, a target object is determined, the decision control system c is used for controlling the differential wheelchair 14 in the execution system d to move to approach the target, the mechanical arm 15 is used for grabbing the target, in the process, the target region heat point diagram 11 is updated in real time, a closed-loop control system is formed with the decision control system c, and the robustness of the wheelchair mechanical arm system for multi-mode information fusion is improved through real-time negative feedback adjustment.
The beneficial effects are that: according to the invention, the characteristic information of three electrical signals, namely the eye electrical signal, the electromyographic signal and the brain electrical signal, is fused with the optical image to perform fusion processing on the characteristic information of the head gesture and the eye gesture, the visual characteristics of a user are fully exerted, the intention judgment is performed in the process of searching the target, the influence of the unintentional behavior of the user on the system is reduced to the maximum extent, the target object is determined according to the characteristic information, the differential wheelchair is close to the target, and the mechanical arm performs path planning and target grabbing in the operable range, so that the robustness of the system is enhanced.
FIG. 1 is a schematic diagram of a wheelchair manipulator system based on multimodal information fusion in accordance with the present invention;
FIG. 2 is a schematic diagram of a wheelchair manipulator system based on multimodal information fusion in accordance with the present invention;
FIG. 3 is a schematic diagram of a differential system;
FIG. 4 is a schematic diagram of the position of an electro-oculogram signal and electromyogram signal acquisition device;
in the figure: the system comprises an a multi-mode information acquisition system, a b information processing fusion system, a c decision control system, a d execution system, a 1-body multi-mode acquisition module, a 2-environment information acquisition module, a 3 myoelectric electrode, a 4CCD industrial camera, a 5-eye camera, a 6-eye electric signal, a 7-myoelectric signal, an 8-brain-electric signal, a 9-head image, a 10-eye moving image, an 11-target region heat map, a 12 controller, a 13-man-machine interaction system, a 14 differential wheelchair, a 15 mechanical arm, a 16-wheel set system I, a 17-wheel set system II, a 18 main wheel, a 19 differential system, a 20 meter wheel system, a 21 inscribed flange, a 22 external flange, a 23 connecting spring, a 24 stud bolt, a 25 flat key, a 26 fixed end cover, a 27 plum blossom coupler, a 28 encoder, a 29 motor controller and a 30 support frame.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
The wheelchair manipulator system based on multi-mode information fusion, referring to fig. 1, mainly comprises a multi-mode information acquisition system a, an information processing fusion system b, a decision control system c and an execution system d.
Wheelchair manipulator system based on multimodal information fuses, its characterized in that: the wheelchair manipulator system based on the multi-mode information fusion consists of a multi-mode information acquisition system a, an information processing fusion system b, a decision control system c and an execution system d; the multi-mode information acquisition system a consists of a human body multi-mode information acquisition module 1 and an environment information acquisition module 2, wherein the environment information acquisition module 2 consists of a binocular camera 3, so that the acquisition of human body video image information of surrounding environment is realized; the decision control system c is composed of a controller 12 and a man-machine interaction system 13 and is used for processing the characteristic information from the information processing fusion system b and generating decision information for execution by the execution system d; the executing system d consists of a differential wheelchair 14 and a mechanical arm 15, and receives and executes decision information.
As shown in fig. 2 and 4, the wheelchair manipulator system based on multi-mode information fusion is characterized in that: the human body multi-mode information acquisition module 1 consists of an myoelectricity electrode 3 and a CCD (charge coupled device) industrial camera 4, wherein the myoelectricity electrode 3 is used for acquiring an electrooculogram signal 6, an electromyogram signal 7 and an electroencephalogram signal 8, the CCD industrial camera 4 is used for acquiring a head image 9 and an eye movement image 10, and the electrooculogram signal 6 acquisition device is a silver chloride patch arranged around eyes of two eyes and is used for acquiring an electrooculogram signal of muscle movement during eye rotation; the electromyographic signal 7 acquisition device is a silver chloride patch arranged on two sternocleidomastoid muscles and is used for acquiring an electrical signal of neck muscle movement during head rotation and shoulder movement; the electroencephalogram signal 8 acquisition device is an Emotiv EPOC and is used for acquiring electroencephalogram signals when the brain is active; the binocular camera 5 is arranged on a support frame 30 of the differential wheelchair 14 and is used for receiving surrounding environment information and transmitting video image information to the decision control system c; the CCD industrial camera 4 is arranged right in front of the human head and is used for detecting a human head image 9 and an eye movement image 10, and the head image 9 detection method is used for estimating the human head posture probability based on feature point detection of an ASM algorithm; the eye movement image 10 detection method is pupil position diameter detection method.
The wheelchair manipulator system based on multi-mode information fusion is characterized in that: the information processing fusion system b performs noise reduction processing on the eye electric signals 6, the electromyographic signals 7 and the brain electric signals 8 from the multi-mode information acquisition system a, performs image preprocessing on the head image 9 and the eye image 10, and then performs human intention judgment, wherein the judgment method comprises the following steps: the electro-oculogram signal 6, the electromyogram signal 7 and the electroencephalogram signal 8 adopt a mutation super-threshold signal identification method, the threshold range is set to be an intentional signal, and the mutation super-threshold range is set to be an unintentional signal; the head image 9 and the eye image 10 are intended to judge and measure the number of pixel points of the head and eye motion change obtained by adopting the difference of a plurality of frames of static images, so as to judge the head and eye motion intention, and the intended judgment priority order is that the head image 9, the eye image 10, the eye electric signal 6, the brain electric signal 7 and the electromyographic signal 8 are in sequence, and further, the intended characteristic information is fused and then sent to the decision control system c for further processing.
The wheelchair manipulator system based on multi-mode information fusion is characterized in that: the man-machine interaction system 13 forms a target area heat point diagram 11 according to the characteristic information of the information processing fusion system b, and judges a target object according to the target area heat point diagram; the binocular camera 5 achieves target locking and performs spatial position estimation on a target object, and further, the man-machine interaction system 13 sends decision information to the execution system d.
As shown in fig. 2 and 3, the wheelset system I16 and the wheelset system II17 of the differential wheelchair 14 are respectively mounted on the left and right sides of the differential wheelchair 14, each of which is composed of a main wheel 18, a differential system 19 and a meter wheel system 20, the differential system 19 is mounted at the axle center of the main wheel 18, and is composed of an inscribed flange 21, an external flange 22 connecting spring 23, a stud 24, a flat key 25, a fixed end cover 26, a quincuncial coupling 27, an encoder 28 and a motor controller 29, the inscribed flange 21 is fixed at the axle center of the hub of the main wheel 18 by bolts, the external flange 22 is connected with the inscribed flange 21 by the flat key 25, the quincuncial coupling 27 is fixed at the inscribed flange 21 by the stud 24, and the differential motion realizing method is as follows: the motor controller 29 combines the form of sending pulse with the encoder 28 to realize the movement of the main wheel 18, the number of pulses received by the wheel set system I16 is smaller than the number of pulses received by the wheel set system II17, so that the differential wheelchair turns left, and the number of pulses received by the wheel set system I16 is larger than the number of pulses received by the wheel set system II17, so that the differential wheelchair turns right.
The following describes a one-time use procedure of the present invention with reference to the accompanying drawings:
for disabled persons or old persons with inconvenient actions, when the invention is used, a user sits on the differential wheelchair, rotates the head and the eye beads to search targets, the multi-mode information acquisition system acquires the eye electrical signals, the electromyographic signals, the brain electrical signals, the head gestures and the eye bead gestures, and the image video information of the brain electrical signals, the head gestures and the eye bead gestures, so that unintentional actions such as rapid rotation of the head or unintentional rotation of the eye beads can occur due to external interference factors in the process of the user, and the method is used for screening and extracting intentional information through a mutation super-threshold signal identification method of the information processing fusion system, so that the targets of the user are searched and the intention is judged.
After the intention judgment is completed, a human-computer interaction system in the decision control system displays a target area video image, at the moment, eye movement information acquired by the CCD industrial camera is combined with the video image to generate a target area hot spot diagram, and accordingly a target to be grasped by a user is judged.
After the target is judged, binocular vision positioning is carried out based on the binocular camera, space position estimation is carried out on the target, relevant parameters are fed back to the decision control system, and the decision control system transmits decision information to the execution system.
The executing system receives the decision information from the decision control system and then carries out believing executing operation, the differential wheelchair approaches the target, the metering wheel gives signal feedback after approaching the target, the differential wheelchair stops moving, and the mechanical arm realizes path planning through an intelligent algorithm, identifies the target and accurately grabs the target. In the process, the spatial position information of the target is updated and transmitted in real time, so that the movement of the differential wheelchair and the mechanical arm is guided.
The above embodiments of the present invention are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are included in the scope of the present invention.
Claims (3)
1. Wheelchair manipulator system based on multimodal information fuses, its characterized in that: the wheelchair manipulator system based on the multi-mode information fusion consists of a multi-mode information acquisition system (a), an information processing fusion system (b), a decision control system (c) and an execution system (d); the multi-mode information acquisition system (a) consists of a human body multi-mode information acquisition module (1) and an environment information acquisition module (2), wherein the environment information acquisition module (2) consists of a binocular camera (5) to acquire video image information of the surrounding environment of a human body; the decision control system (c) consists of a controller (12) and a human-computer interaction system (13) and is used for processing the characteristic information from the information processing fusion system (b) and generating decision information for execution by the execution system (d); the human body multi-mode information acquisition module (1) consists of an myoelectricity electrode (3) and a CCD industrial camera (4), wherein the myoelectricity electrode (3) is used for acquiring an eye electric signal (6), an electromyogelectricity signal (7) and an electroencephalogram signal (8), the CCD industrial camera (4) is used for acquiring a head image (9) and an eye movement image (10), and the eye electric signal (6) acquisition device is a silver chloride patch arranged around eyes of eyes and is used for acquiring electric signals of muscle movement during eye rotation; the electromyographic signal (7) acquisition device is a silver chloride patch arranged on two sternocleidomastoid muscles and is used for acquiring an electrical signal of neck muscle movement during head rotation and shoulder movement; the electroencephalogram signal (8) acquisition device is an Emotiv EPOC and is used for acquiring electroencephalogram signals when the brain is active; the binocular camera (5) is arranged on a support frame (30) of the differential wheelchair (14) and is used for receiving surrounding environment information and transmitting video image information to the decision control system (c); the CCD industrial camera (4) is arranged right in front of the head of the human body and is used for detecting a human head image (9) and an eye movement image (10), and the head image (9) detection method is used for estimating the human head posture probability based on feature point detection of an ASM algorithm; the eye movement image (10) detection method is a pupil position diameter detection method, the information processing fusion system (b) carries out noise reduction processing on an eye electric signal (6), an electromyographic signal (7) and an electroencephalogram signal (8) from the multi-mode information acquisition system (a), carries out image preprocessing on a head image (9) and the eye movement image (10), and then carries out human body intention judgment, and the judgment method comprises the following steps: an electro-oculogram signal (6), an electromyogram signal (7) and an electroencephalogram signal (8) adopt a mutation super-threshold signal identification method, a threshold range is set to be an intentional signal, and a mutation super-threshold range is set to be an unintentional signal; the head image (9) and the eye movement image (10) are used for judging the number of the pixel points of the head and eye movement changes obtained by adopting the difference of the inter-frame static images to measure, further judging the head and eye movement intention, wherein the intention is to judge the priority order of the head image (9), the eye movement image (10), the eye electric signal (6), the brain electric signal (8) and the muscle electric signal (7), further, the intention characteristic information is fused and then sent to a decision control system (c) for further processing, a wheelset system I (16) and a wheelset system II (17) of the differential wheelchair (14) are respectively arranged at the left side and the right side of the differential wheelchair (14), each differential wheelchair is composed of a main wheel (18), a differential system (19) and a meter wheel system (20), the differential system (19) is arranged at the axle center of the main wheel (18) and is composed of an inscribed flange (21), an externally-connected flange (22) connecting a spring (23), a double-headed bolt (24), a flat key (25), a fixed end cover (26), a plum blossom coupler (27), an encoder (28) and a motor controller (29), wherein the inscribed flange (21) is fixed at the axle center of the main wheel (18) through the main wheel (18), the plum coupling (27) is fixed at the inscribed flange (21) through a stud (24), and the differential motion realization method comprises the following steps: the motor controller (29) combines the form of sending pulse with the encoder (28) to realize the motion of the main wheel (18), and the differential wheelchair turns left when the pulse number received by the wheel set system I (16) is smaller than the pulse number received by the wheel set system II (17), and turns right when the pulse number received by the wheel set system I (16) is larger than the pulse number received by the wheel set system II (17).
2. The multi-modal information fusion-based wheelchair manipulator system of claim 1, wherein: the man-machine interaction system (13) forms a target area heat point diagram (11) according to the characteristic information of the information processing fusion system (b), and judges a target object according to the target area heat point diagram; the binocular camera (5) achieves target locking and performs space position estimation on a target object, and further, the human-computer interaction system (13) sends decision information to the execution system (d).
3. The multi-modal information fusion-based wheelchair manipulator system of claim 1, wherein: the execution method comprises the following steps: firstly, a human body realizes target search in a region range through head rotation, and the multi-mode information acquisition system (a), the information processing fusion system (b) and the decision control system (c) perform combined action to acquire human body information and judge intention; secondly, the man-machine interaction system (13) generates a target area heat point diagram (11) to determine a target object; finally, the decision control system (c) controls the differential wheelchair (14) in the execution system (d) to approach the target, the mechanical arm (15) grabs the target, in the process, the target area hot spot diagram (11) is updated in real time, a closed loop control loop is formed with the decision control system (c), and the robustness of the system is improved through real-time negative feedback adjustment.
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| CN110353899B (en) * | 2019-04-30 | 2020-11-24 | 华南师范大学 | Intelligent wheelchair |
| CN110658742A (en) * | 2019-09-05 | 2020-01-07 | 四川省康复辅具技术服务中心 | Multi-mode cooperative control wheelchair control system and method |
| CN111134974B (en) * | 2019-12-09 | 2021-04-20 | 西安交通大学 | Wheelchair robot system based on augmented reality and multi-mode biological signals |
| CN111631923A (en) * | 2020-06-02 | 2020-09-08 | 中国科学技术大学先进技术研究院 | Neural network control system of exoskeleton robot based on intention recognition |
| CN112099630B (en) * | 2020-09-11 | 2024-04-05 | 济南大学 | Man-machine interaction method for multi-modal intention reverse active fusion |
| CN112518743B (en) * | 2020-11-20 | 2022-04-01 | 南京航空航天大学 | Multi-mode neural decoding control system and method for on-orbit operation of space manipulator |
| CN113276091A (en) * | 2021-04-26 | 2021-08-20 | 南京航空航天大学 | Foldable outer limb robot |
| CN113253750B (en) * | 2021-06-28 | 2021-11-05 | 北京科技大学 | Multi-mode control system for flapping wing aircraft |
| CN115463003A (en) * | 2022-09-09 | 2022-12-13 | 燕山大学 | Upper limb rehabilitation robot control method based on information fusion |
| CN115192049B (en) * | 2022-09-14 | 2022-12-09 | 深圳市心流科技有限公司 | Myoelectricity sampling frequency adjusting method of intelligent artificial limb |
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