CN110147166A - A kind of intelligence control system based on eyeball body-sensing signal - Google Patents
A kind of intelligence control system based on eyeball body-sensing signal Download PDFInfo
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- CN110147166A CN110147166A CN201910501639.0A CN201910501639A CN110147166A CN 110147166 A CN110147166 A CN 110147166A CN 201910501639 A CN201910501639 A CN 201910501639A CN 110147166 A CN110147166 A CN 110147166A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/013—Eye tracking input arrangements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
Abstract
The invention discloses a kind of intelligence control systems based on eyeball body-sensing signal, belong to motion sensing control technical field, including eyeball signal acquisition module and trolley end；The eyeball signal acquisition module includes the one-chip computer module, image capture module and wireless communication module being connected, the trolley end includes the one-chip computer module, motor drive module and wireless communication module being connected, and the one-chip computer module at the eyeball signal acquisition module and trolley end is identical as wireless communication module；Collected signal is sent to one-chip computer module by the image capture module of eyeball signal acquisition module, one-chip computer module converts the signal received to after control instruction and is sent to trolley end by its wireless communication module, the signal received is transmitted to its one-chip computer module by the wireless communication module at trolley end, and the signal received is sent to motor drive module and then drives moving of car by one-chip computer module.It is mobile trolley can be controlled by eyeball, to realize the activities such as transport.
Description
Technical field
The invention belongs to motion sensing control technical fields, and in particular to a kind of intelligent control system based on eyeball body-sensing signal
System.
Background technique
Nowadays, biological body-sensing signal is gradually valued by the people in control field, and eyeball signal is that a kind of high acquisition is convenient
And the control signal of high stability, eyeball control also become the emphasis of scientific research.Image refers to the description information of object, number
Word image is the digital representation of an object, and Digital Image Processing, which refers to, carries out various places to image information using digital device
Reason.However there is presently no the two is combined to reasonable, the intelligent means for being used for transporting.
Summary of the invention
To solve the deficiencies in the prior art, the present invention provides a kind of intelligent control system based on eyeball body-sensing signal
System it is mobile can to control trolley by eyeball, to realize the activities such as transport.
The present invention is that technical solution used by solving its technical problem is: a kind of intelligence control based on eyeball body-sensing signal
System processed, including eyeball signal acquisition module and trolley end；The eyeball signal acquisition module includes the single-chip microcontroller mould being connected
Block, image capture module and wireless communication module, the trolley end include the one-chip computer module being connected, motor drive module and
The one-chip computer module at wireless communication module, the eyeball signal acquisition module and trolley end is identical as wireless communication module；Eyeball
Collected signal is sent to one-chip computer module by the image capture module of signal acquisition module, and one-chip computer module will receive
Signal is converted into after control instruction and is sent to trolley end by its wireless communication module, and the wireless communication module at trolley end will receive
To signal be transmitted to its one-chip computer module, the signal received is sent to motor drive module and then driven by one-chip computer module
Dynamic moving of car.
Further, described image acquisition module uses OV2640 camera module, and setting OV2640 camera module is adopted
Integrate the resolution ratio of image as 320*240, the two-dimensional array of a 320*240 is formed after each frame image grayscale processing, using figure
As the mode of aspect ratio pair, in image recognition display subroutine, addition obtains the program of a frame image features information, will be each
Frame image variables are stored as a numerical variable, and characteristics of image variation is obtained by comparing the value of numerical variable；It is described
OV2640 camera module uses SCCB bus marco.
Further, the method for the eyeball signal acquisition module acquisition eye data are as follows: OV2640 camera module is adopted
Eye data is acquired with YUV422 format, data are sent to the calculating and judgement that one-chip computer module carries out eye data threshold value；Institute
State the calculating and judgment method of eye data threshold value are as follows: possess multiple RGB figures for OV2640 camera module is collected
Image sets A as collected color value with binaryzation gray scale algorithm in a program, and B is setpoint color threshold value, if A >=
B, then A=1, otherwise A=0, wherein 1 be it is black, 0 is white；By bit manipulation operation, the Y-component of each pixel of image is extracted
Out, Y-component is the luminance component for acquiring image, and compared with the color threshold of setting, being higher than setpoint color threshold value is 1, low
It is 0 in setpoint color threshold value, obtains complete gray level image.
Further, the judgment method of eyeball moving track are as follows: OV2640 camera module acquires the every one-row pixels of image
The abscissa average value for the point that middle black level value is 1, operation obtain the average value of 240 rows, and the average value of this 240 row is eyeball center
Coordinate value where point.
Further, the wireless communication module is nRF24L01 module, and eyeball signal acquisition module passes through
NRF24L01 module sends collected information to trolley end, and eyeball signal acquisition module is transmitting terminal, and trolley end connects for signal
Receiving end, as soon as every acquired frame image signal, is made comparisons in transmitting terminal with previous image information, calculates eyeball moving track,
One-chip computer module provides control information, then sends control information to trolley end by nRF24L01 module；Information sender to
For one-way transmission, emission mode is configured by nRF24L01 module in eyeball signal acquisition module, and trolley end is by nRF24L01 mould
Block is configured to reception pattern, and trolley end identifies collected information by its one-chip computer module, makes corresponding control decision.
Further, the one-chip computer module is STM32f407 single-chip microcontroller, and motor drive module is that 7A/160W two-way is straight
Flow motor drive module.
The beneficial effects of the present invention are: trolley end will make corresponding movement by the rotation of eyeball, can apply in VR
The fields such as eyeball control field, long-range eyeball manipulation field, the daily trip of disabled person and industrial automation in technology, side
Just people's lives and production；Trolley end and eyeball signal acquisition module are independent two parts, further through communication module
Connection is generated, trolley end can generate a series of movement according to acquisition signal end, and it is more advanced relative to traditional means of transportation,
Trolley end electric drive, it is more environmentally friendly；Realize the binaryzation gray proces of eyeball image, faster than existing image procossing.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is work flow diagram of the present invention；
Fig. 3 is Ins location datagram of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
Embodiment 1
A kind of intelligence control system based on eyeball body-sensing signal, including eyeball signal acquisition module and trolley end；It is described
Eyeball signal acquisition module includes the one-chip computer module, image capture module and wireless communication module being connected, the trolley end
Including the one-chip computer module, motor drive module and wireless communication module being connected, the eyeball signal acquisition module and trolley
The one-chip computer module at end is identical as wireless communication module；The image capture module of eyeball signal acquisition module is by collected signal
It is sent to one-chip computer module, one-chip computer module converts the signal received to after control instruction and sends out by its wireless communication module
It send to trolley end, the signal received is transmitted to its one-chip computer module, one-chip computer module by the wireless communication module at trolley end
The signal received is sent to motor drive module and then drives moving of car.The one-chip computer module is that STM32f407 is mono-
Piece machine, motor drive module are 7A/160W two-way direct current motor drive module.
Described image acquisition module uses OV2640 camera module, and setting OV2640 camera module acquires point of image
Resolution is 320*240, the two-dimensional array of a 320*240 is formed after each frame image grayscale processing, using image feature comparison
Mode, in image recognition display subroutine, addition obtain a frame image features information program, by each frame image variables
It is stored as a numerical variable, characteristics of image variation is obtained by comparing the value of numerical variable；Which occupies in single-chip microcontroller
Deposit it is smaller, on single-chip microcontroller arithmetic speed influence it is little, OV2640 camera module is small in size, operating voltage is low, total using SCCB
Line traffic control can export whole frame, sub-sampling, 8/10 image data of various resolution ratio for scaling and taking the modes such as window；
OV2640 camera module UXGA image is up to 15 frames/second, and for SVGA image up to 30 frames, CIF image, can be with up to 60 frames
Control picture quality, transmission mode and data format.All image processing function processes, including gamma curve, white balance, comparison
Degree, coloration etc. can pass through SCCB interface programming.OV2640 camera module acquired image is color image, this implementation
Example is translated into gray level image by digital image processing techniques.
The method of the eyeball signal acquisition module acquisition eye data are as follows: OV2640 camera module uses YUV422 lattice
Formula acquires eye data, and data are sent to the calculating and judgement that one-chip computer module carries out eye data threshold value；The eye data
The calculating and judgment method of threshold value are as follows: for the collected image for possessing multiple RGB figures of OV2640 camera module, with two
Value gray scale algorithm sets A as collected color value in a program, and B is setpoint color threshold value, if A >=B, A=1, no
Then A=0, wherein 1 is black, 0 is white；By bit manipulation operation, the Y-component of each pixel of image is extracted, Y-component is
The luminance component for acquiring image, compared with the color threshold of setting, being higher than setpoint color threshold value is 1, is lower than setpoint color threshold
Value is 0, obtains complete gray level image.By adjusting hardware location, structure and design threshold, finally obtained image effect
Are as follows: eyeball is black (for 1), and other parts are all white (for 0), judges that eyeball running track, eyeball moving track are sentenced
Disconnected method are as follows: OV2640 camera module acquires the abscissa average value for the point that black level value is 1 in the every one-row pixels of image, operation
The average value of 240 rows is obtained, the average value of this 240 row is the coordinate value where eyeball central point.
The wireless communication module is nRF24L01 module, and eyeball signal acquisition module is by nRF24L01 module to small
Vehicle end sends collected information, and eyeball signal acquisition module is transmitting terminal, and trolley end is signal receiving end, in transmitting terminal, often
As soon as having acquired frame image signal, make comparisons with previous image information, calculate eyeball moving track, one-chip computer module provides control
Information processed, then trolley end is sent control information to by nRF24L01 module；Information sender is to for one-way transmission, eyeball letter
Emission mode is configured by nRF24L01 module in number acquisition module, nRF24L01 module is configured reception pattern by trolley end,
Trolley end identifies collected information by its one-chip computer module, makes corresponding control decision.
Embodiment 2
One-chip computer module timer is set, and output two-way PWM waveform controls trolley end, respectively by STM32f407
Two channels of single-chip microcontroller timer 9 and a channel of timer 14 export PWM, and setting timer is to count up mode, timing
It is low that polarity is compared in device output.
The analysis of PWM rotational angle: following table is that pwm pulse adjusts rotational angle relationship；
Note: period 20ms
Pulse regulation makes pulse change in one cycle by adjusting corresponding duty ratio, according to the time in table
It is known that the difference of duty ratio is 1/40,1/20,3/40,1/10,1/8 respectively, corresponding angle is 0,45,90 respectively,
135,180.
As shown in figure 3, the difference by profile point set, between the calculated diameter of analysis X-direction and the calculated diameter of Y-direction
Value, judges pupil profile point set, does not contain only the profile of pupil, due to the characteristic of eyes, calculated diameter in the Y direction
It is exactly the diameter of pupil, so using the difference of the minimax of Y-direction as the diameter of pupil；Lead to according to the characteristics of pupil profile
The fitted ellipse function fitEllipse provided in the library OpenCV is provided and is fitted to ellipse, elliptical center may determine that as pupil
The center of circle.
OV2640 camera module acquires eyeball image can be by extraneous light intensity environmental disturbances, it is preferred that the present invention is designing
In the process, the constant for setting a threshold to adjustable variation, the size of threshold value is adjusted by key, system in actual motion,
First threshold value is corrected, obtains the perfect binary image (gray level image) being suitble under current environment.
The preferred nRF24L01 module of the present embodiment is a kind of single-chip microcontroller radio-frequency receiving-transmitting device, internal to configure frequency synthesis
The various functions module such as device, crystal oscillator, power amplifier, modulator, fixed work is in 2.4GHz~2.5GHz ISM frequency
Section.NRF24L01 module uses enhanced ShockBurst technology, is directly carried out to communication channel and output power by program
Configuration.NRF24L01 module dissipation is low, and with the power emission of -6dBm, operating current only has 9mA；When receiving information,
Its operating current is 12.3mA, is worked in 100mw, electric current is only 160mA.
The preferred pupil intermediate region of the present embodiment determines method: being distributed according to human eye, determines-three areas of initial position
Domain is set in a program, and black region is origin；Each obtained fed back values, infinitely with a upper centre coordinate
Averaging is weighted, to determine the accuracy of central area.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art within the technical scope of the present disclosure, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. a kind of intelligence control system based on eyeball body-sensing signal, which is characterized in that including eyeball signal acquisition module and small
Che Duan；The eyeball signal acquisition module includes the one-chip computer module, image capture module and wireless communication module being connected, institute
Stating trolley end includes the one-chip computer module, motor drive module and wireless communication module being connected, the eyeball signal acquisition mould
Block and the one-chip computer module at trolley end are identical as wireless communication module；The image capture module of eyeball signal acquisition module will acquire
To signal be sent to one-chip computer module, one-chip computer module converts the signal received to after control instruction through its channel radio
Letter module is sent to trolley end, and the signal received is transmitted to its one-chip computer module, list by the wireless communication module at trolley end
The signal received is sent to motor drive module and then drives moving of car by piece machine module.
2. a kind of intelligence control system based on eyeball body-sensing signal according to claim 1, which is characterized in that the figure
Picture acquisition module uses OV2640 camera module, and the resolution ratio that setting OV2640 camera module acquires image is 320*240,
The two-dimensional array that a 320*240 is formed after each frame image grayscale processing is known by the way of image feature comparison in image
In other display subroutine, addition obtains the program of a frame image features information, and each frame image variables are stored as a numerical value
Variable obtains characteristics of image variation by comparing the value of numerical variable；The OV2640 camera module uses SCCB bus
Control.
3. a kind of intelligence control system based on eyeball body-sensing signal according to claim 1, which is characterized in that the eye
The method of ball signal acquisition module acquisition eye data are as follows: OV2640 camera module acquires eyeball number using YUV422 format
According to data are sent to the calculating and judgement that one-chip computer module carries out eye data threshold value；The calculating of the eye data threshold value and
Judgment method are as follows: for the collected image for possessing multiple RGB figures of OV2640 camera module, calculated with binaryzation gray scale
Method, sets A as collected color value in a program, and B is setpoint color threshold value, if A >=B, A=1, otherwise A=0, wherein
1 is black, and 0 is white；By bit manipulation operation, the Y-component of each pixel of image is extracted, Y-component is acquisition image
Luminance component, compared with the color threshold of setting, being higher than setpoint color threshold value is 1, is 0 lower than setpoint color threshold value, obtains
Complete gray level image.
4. a kind of intelligence control system based on eyeball body-sensing signal according to claim 3, which is characterized in that eyeball fortune
The judgment method of dynamic rail mark are as follows: OV2640 camera module acquires the abscissa for the point that black level value is 1 in the every one-row pixels of image
Average value, operation obtain the average value of 240 rows, and the average value of this 240 row is the coordinate value where eyeball central point.
5. a kind of intelligence control system based on eyeball body-sensing signal according to claim 1, which is characterized in that described
Wireless communication module is nRF24L01 module, and eyeball signal acquisition module is sent to trolley end by nRF24L01 module and collected
Information, eyeball signal acquisition module be transmitting terminal, trolley end be signal receiving end, it is every to have acquired a frame image in transmitting terminal
Signal is just made comparisons with previous image information, calculates eyeball moving track, one-chip computer module provides control information, then passes through
NRF24L01 module sends control information to trolley end；Information sender is to for one-way transmission, in eyeball signal acquisition module
Emission mode is configured by nRF24L01 module, nRF24L01 module is configured reception pattern by trolley end, and trolley end passes through it
One-chip computer module identifies collected information, makes corresponding control decision.
6. a kind of intelligence control system based on eyeball body-sensing signal according to claim 1, which is characterized in that the list
Piece machine module is STM32f407 single-chip microcontroller, and motor drive module is 7A/160W two-way direct current motor drive module.
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