CN113116647B - Intelligent wheelchair, control method of intelligent wheelchair and related device - Google Patents
Intelligent wheelchair, control method of intelligent wheelchair and related device Download PDFInfo
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- CN113116647B CN113116647B CN202110361814.8A CN202110361814A CN113116647B CN 113116647 B CN113116647 B CN 113116647B CN 202110361814 A CN202110361814 A CN 202110361814A CN 113116647 B CN113116647 B CN 113116647B
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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
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
- A61B5/6803—Head-worn items, e.g. helmets, masks, headphones or goggles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
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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
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
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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
Abstract
The application provides an intelligent wheelchair, a control method of the intelligent wheelchair, electronic equipment and a computer readable storage medium, wherein the intelligent wheelchair comprises the following components: wheelchair body, wearing device and controlling means, wherein wear the device and be used for wearing on wheelchair occupant's head, wear the device and include: a first acquisition unit that acquires an eyeball myoelectric signal of a wheelchair occupant; and a communication unit that transmits the eyeball myoelectric signal acquired by the first acquisition unit to the control device, and the control device controls the movement of the wheelchair body according to the eyeball myoelectric signal from the communication unit. Thus, a high signal-to-noise ratio SNR of the SSVEP class can be achieved while avoiding mental fatigue resulting from prolonged use.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to an intelligent wheelchair, a control method of the intelligent wheelchair, an electronic device, and a computer readable storage medium.
Background
Currently, wheelchairs are a mobility aid for elderly and disabled persons with impaired mobility. In order to provide mobility aids for elderly and disabled persons with impaired mobility, and to help them to improve freedom of autonomous mobility and to rejoin society, intelligent wheelchairs (also known as intelligent wheelchair mobile robots) have recently grown, which involve various fields and technologies such as machinery, control, sensors, artificial intelligence, communications, etc.
Existing smart wheelchairs, for example, have virtual control glasses that include an electronic display screen with multiple function selection areas that blink at different frequencies and an infrared camera; the processor confirms a function selection area watched by the user according to the human eye image information of the infrared shooting device; the processor calculates the frequency of the brain wave signals according to the brain wave signals transmitted by the brain wave collector, and compares the frequency of the brain wave signals with the frequency of the function selection area so as to control the wheelchair to move through the power mechanism.
In existing smart wheelchair technologies, steady State Visual Evoked Potential (SSVEP) technology is commonly used, SSVEP being one of the main protocols controlling brain-computer interfaces. However, there is a problem in that long-term use of the SSVEP causes mental fatigue to the user, and thus, the function of the SSVEP is limited.
Disclosure of Invention
The present application aims to provide an intelligent wheelchair, a control method of the intelligent wheelchair, an electronic device and a computer readable storage medium, which realize a high signal-to-noise ratio (SNR) of SSVEP level and at the same time avoid mental fatigue caused by long-time use.
The application adopts the following technical scheme:
in a first aspect, the present application provides an intelligent wheelchair comprising: wheelchair body, wearing device and controlling means, wherein, wearing device is used for wearing on wheelchair occupant's head, and wearing device includes: a first acquisition unit that acquires an eyeball myoelectric signal of a wheelchair occupant; and a communication unit that transmits the eyeball myoelectric signal acquired by the first acquisition unit to the control device, and the control device controls movement of the wheelchair body according to the eyeball myoelectric signal from the communication unit. The technical scheme has the advantages that the SSVEP-level SNR similar to that of the SSVEP can be obtained by collecting the eyeball electromyographic signals of the passengers and controlling the movement of the wheelchair body according to the eyeball electromyographic signals, the SSVEP-level SNR controlled by the brain-computer interface BCI for the external agent is improved, the mental fatigue caused by long-time use is avoided, and the interaction with the external agent can be realized without external stimulation.
In some alternative embodiments, the wearing device is glasses, and a nose pad of the glasses has an electrode as the first acquisition unit to acquire the eye myoelectric signal of the wheelchair occupant. The technical scheme has the beneficial effects that the nose pad of the glasses is used for collecting the eyeball electromyographic signals, so that the wearing device is miniaturized, the signal collection is more convenient, and the wearing comfort and the user acceptance are good.
In some optional embodiments, the wearing device further includes a second acquisition unit that acquires an electroencephalogram signal of a wheelchair occupant, and the communication unit further transmits the acquired electroencephalogram signal to the control device, and the control device controls movement of the wheelchair body according to the eyeball electromyogram signal and the electroencephalogram signal from the communication unit. The technical scheme has the beneficial effects that the performance of classification problems can be improved by integrating the electroencephalogram data, so that the control of the wheelchair body has higher accuracy.
In some alternative embodiments, the wearing device is glasses, and a frame of the glasses has an electrode as the second acquisition unit to acquire the electroencephalogram signal of the wheelchair occupant. The technical scheme has the beneficial effects that the frame of the glasses is set to be the electrode of the second acquisition unit, so that the electroencephalogram signals can be acquired more conveniently, and the wearing device is miniaturized.
In some optional embodiments, the communication unit further sends the data of the eyeball myoelectric signal acquired by the first acquisition unit to a terminal device, so as to display the acquired data of the eyeball myoelectric signal on the terminal device. The technical scheme has the beneficial effects that the signal data are sent to the terminal equipment for display, so that a user can know and confirm the signal data acquired by the wearing device.
In some alternative embodiments, the eye myoelectric signal contains movement information of the eyes of the wheelchair occupant, and the control device controls movement of the wheelchair body accordingly in accordance with the movement information of the eyes in the eye myoelectric signal. The technical scheme has the beneficial effects that the movement of the wheelchair body can be determined according to the movement information of eyes, so that the wheelchair body can be effectively controlled.
In some alternative embodiments, the control device drives the wheelchair body to move forward, turn left or turn right, respectively, when the acquired movement information of the eyes in the eye-ball myoelectric signal indicates that the wheelchair occupant's eyes are looking forward, left or right, and controls the wheelchair body to stop or move backward, respectively, when the acquired movement information of the eyes in the eye-ball myoelectric signal indicates that the wheelchair occupant's eyes are looking up or down. The technical scheme has the beneficial effects that the wheelchair body can be correspondingly controlled according to the observation of eyes in different directions, so that the movement of the wheelchair body can be more effectively controlled.
In some alternative embodiments, the wearing device is glasses, and the left and right sides of the frame of the glasses are respectively provided with a containing chamber to respectively contain the communication unit and a battery unit for supplying power to the wearing device. The technical scheme has the beneficial effects that the wearing device can be miniaturized, and the wearing device has acceptable size and good wearing comfort.
In a second aspect, the present application provides a control method of an intelligent wheelchair, the intelligent wheelchair including a wheelchair body, the control method comprising: collecting eyeball myoelectric signals of a wheelchair occupant; and processing the acquired eyeball electromyographic signals and converting the eyeball electromyographic signals into control signals so as to control the movement of the wheelchair body.
In some alternative embodiments, the processing and converting the acquired eye myoelectric signals into control signals includes: identifying movement information of eyes of a wheelchair occupant in the eye myoelectric signal; and converting the movement information of the eyes into the control signal so as to drive the wheelchair body to correspondingly move.
In some alternative embodiments, controlling movement of the wheelchair body includes: when the movement information of the eyes in the eyeball myoelectric signal is recognized to represent that the eyes of the wheelchair occupant are seen forward, left or right, the wheelchair body is driven to move forward, left or right, respectively, and when the movement information of the eyes in the eyeball myoelectric signal is recognized to represent that the eyes of the wheelchair occupant are seen upward or downward, the wheelchair body is controlled to stop or move backward, respectively.
In some alternative embodiments, the control method further comprises: collecting an electroencephalogram signal of a wheelchair occupant; the processing and converting the collected eyeball electromyographic signals into control signals to control the movement of the wheelchair body comprises the following steps: and processing the acquired eyeball electromyographic signals and the acquired brain electrical signals and converting the processed eyeball electromyographic signals and the acquired brain electrical signals into control signals so as to control the movement of the wheelchair body.
In some alternative embodiments, the control method further comprises: and sending the acquired data of the eyeball electromyographic signals to terminal equipment so as to display the acquired data of the eyeball electromyographic signals on the terminal equipment.
In a third aspect, the application provides an electronic device comprising a memory storing a computer program and a processor implementing the steps of any of the methods described above when executing the computer program.
In a fourth aspect, the present application provides a computer readable storage medium storing a computer program which when executed by a processor performs the steps of any of the methods described above.
Drawings
The application will be further described with reference to the drawings and examples.
FIG. 1 is a schematic structural view of an intelligent wheelchair according to an embodiment of the present application;
FIG. 2 is a schematic structural view of an intelligent wheelchair according to an embodiment of the present application;
FIG. 3 is a schematic structural view of an intelligent wheelchair according to an embodiment of the present application;
fig. 4 is a schematic structural view of glasses according to an embodiment of the present application;
fig. 5 is a schematic diagram of a specific circuit structure of wearing equipment of the intelligent wheelchair according to an embodiment of the present application;
FIG. 6 is a flow chart of a control method of an intelligent wheelchair according to an embodiment of the present application;
fig. 7 is a schematic flow chart of processing an eye myoelectric signal according to an embodiment of the present application;
FIG. 8 is a flow chart of a control method of an intelligent wheelchair according to an embodiment of the present application;
FIG. 9 is a schematic flow chart of a control method of an intelligent wheelchair according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application; and
fig. 11 is a schematic structural diagram of a program product for implementing the access management method according to an embodiment of the present application.
Detailed Description
The present application will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.
Referring to fig. 1, an embodiment of the present application provides an intelligent wheelchair. The intelligent wheelchair 1 includes a wheelchair body 30, a wearing device 10 and a control device 20. The wearing device 10 is for wearing on the head of a wheelchair occupant, and the wearing device 10 includes: a first acquisition unit 11, the first acquisition unit 11 acquiring an eyeball myoelectricity EOG signal of a wheelchair occupant; and a communication unit 12, the communication unit 12 transmitting the eyeball myoelectric signal acquired by the first acquisition unit 11 to the control device 20. The control device 20 controls the movement of the wheelchair body 30 according to the eye myoelectric signal from the communication unit 12.
Therefore, by collecting the eyeball myoelectric signals of the passengers and controlling the movement of the wheelchair according to the eyeball myoelectric signals, the SNR similar to that of the SSVEP can be obtained, the mental fatigue caused by long-time use is avoided, and the interaction with the external agent can be realized without external stimulus.
The wearing device 10 is, for example, glasses whose nose pad has an electrode as the first acquisition unit 11 to acquire an eye myoelectric signal of the wheelchair occupant.
From this, gather eyeball electromyographic signal through the nose pad of glasses, can make wearing device miniaturization, the collection of the signal of being more convenient for to have fine wearing travelling comfort.
Referring to fig. 2, the wearing device 10 further includes, for example, a second acquisition unit 13, the second acquisition unit 13 acquiring an electroencephalogram signal of the wheelchair occupant, and the communication unit 12 also transmitting the acquired electroencephalogram EGG signal to the control device 20. The control device 20 controls the movement of the wheelchair body 30 based on the eye myoelectric signal and the brain electric signal from the communication unit 12.
Therefore, by integrating the electroencephalogram data, the performance of classification problems can be improved, and the wheelchair can be controlled with higher accuracy.
The wearing device 10 is, for example, spectacles, the frame of which has electrodes as the second acquisition unit 13 to acquire the electroencephalogram signals of the wheelchair occupant.
Thus, by setting the frame of the glasses as the electrode of the second acquisition unit, it is possible to more easily acquire the brain electrical signal and miniaturize the wearing device.
Referring to fig. 3, the communication unit 12 also transmits the data of the eye myoelectric signal acquired by the first acquisition unit 11 to the terminal device 40 to display the data of the acquired eye myoelectric signal on the terminal device 40.
Thus, the signal data is transmitted to the terminal device for display, so that the user can know and confirm the signal data acquired by the wearing device.
Preferably, the eye myoelectric signal contains movement information of the eyes of the wheelchair occupant. The control device 20 controls the movement of the wheelchair body 30 accordingly based on the eye movement information in the eye myoelectric signal.
Thus, the movement of the wheelchair body can be determined based on the eye movement information, and the wheelchair body can be effectively controlled.
It is further preferred that the control device 20 drives the wheelchair body 30 to move forward, turn left or turn right, respectively, when the movement information of the eyes in the eye myoelectric signals collected by the first collection unit 11 indicates that the eyes of the wheelchair occupant are looking forward, left or right, and that the control device 20 controls the wheelchair body 30 to stop or move backward, respectively, when the movement information of the eyes in the eye myoelectric signals collected by the first collection unit 11 indicates that the eyes of the wheelchair occupant are looking up or down.
Accordingly, the wheelchair body can be controlled in response to the eye viewing in different directions, and the movement of the wheelchair body can be controlled more effectively.
Referring to fig. 4, the wearing device is, for example, glasses, and the left and right sides of the frame of the glasses have housing chambers 101A and 101B, respectively, to accommodate the communication unit 12 and a battery unit for supplying power to the wearing device, respectively. Thereby, the wearing device can be miniaturized and have acceptable dimensions and good wearing comfort.
Specific examples of the intelligent wheelchair provided in the application embodiment are described below. This specific example mimics the level 4 SSVEP protocol applied in a smart wheelchair setup.
In this particular example, the smart wheelchair has a conventional form factor wearable device and a controller, wherein the wearable device includes an EOG harvester for harvesting EOG signals, a communication module, and a battery module.
In this example, the wearing device is glasses and the electrodes are embedded in the nose pad of the glasses as EOG collectors. When the user wears the glasses, the EOG signal is acquired through electrodes embedded in the nose pads of the glasses.
The left and right sides of the eyeglass frame have two chambers (101A and 101B in fig. 4) that store a battery module and a communication (bluetooth) module. The communication module is used for connecting the wearing equipment with the controller of the wheelchair body (Bluetooth connection). In addition, the communication module provides a link to an application of the mobile terminal that can display bio-signal data (e.g., EOG signal data) collected in real-time. The battery module serves as a power source for powering the wearable device.
A controller in the intelligent wheelchair analyzes the EOG signal from the wearable device measurement and controls the wheelchair body based on the analysis. For intelligent wheelchairs, the four-level classification can satisfy its control.
During operation, the user wears the wearing device as if ordinary glasses were worn. Movement information of the eye muscles is detected by electrodes embedded in the nose pad. The electrodes provide specific information about eye movement and these specific information are then transmitted to the wheelchair controller for driving the wheelchair motor.
For example, when the user looks forward, the glasses detect an EOG signal indicative of looking forward, and the controller controls forward movement of the wheelchair body in accordance with the EOG signal; when the user looks left or right, the glasses detect an EOG signal representing that the user looks left or right, and the controller controls the wheelchair body to turn left or right according to the EOG signal; when the user looks downwards, the glasses detect an EOG signal representing downward looking, and the controller controls the wheelchair body to move backwards according to the EOG signal; and when the user looks up, the glasses detect an EOG signal indicating that the user looks up, and the controller controls the wheelchair body to stop according to the EOG signal.
Besides, the glasses can collect the eyeball electromyographic signals and also can collect the EEG signals. Another electrode (e.g., a silver-plated electrode) through which the EEG signal can be acquired is embedded in the eyeglass frame as an EEG collector. EEG collectors improve the performance of classification problems by integrating electroencephalogram data. The collector acquires an electroencephalogram signal by detecting a slow cortical potential. This slow cortical potential is induced when the user considers controlling the individual actions of the wheelchair body. The SNR of such a protocol will itself be very low due to the lack of image cues, but since EOG information can be collected simultaneously, it is possible to effectively have easily integrated marker data.
Fig. 5 shows a specific circuit structure schematic diagram of wearing equipment of an intelligent wheelchair according to an embodiment of the present application. The circuit for wearing the device comprises: an EEG preprocessing unit (EEG collector), an EOG preprocessing unit (EOG collector), a battery voltage unit (battery module), a microcontroller integrated with a 10-bit ADC, a Bluetooth module (communication module), an LED indicator and a feedback option unit. The EEG preprocessing unit and the EOG preprocessing unit receive the input signal in+, IN-and the reference signal REF, respectively, and output analog signals 1 and 2, respectively, to the microcontroller, and the battery voltage unit outputs an analog signal 3 of the battery voltage to the microcontroller. The Bluetooth module communicates with the microcontroller. The controller sends a digital signal to the LED indicator and a pulse width modulated PWM signal to the feedback option unit.
According to a specific example of the intelligent wheelchair of the present application, by collecting the eyeball myoelectric signal of the occupant and controlling the movement of the wheelchair body according to the eyeball myoelectric signal, it is possible to obtain an SNR similar to that of the SSVEP, that is, an SSVEP-level SNR for BCI control of the external agent is improved, and at the same time, mental fatigue caused by long-time use is avoided, and interaction with the external agent is achieved without external stimulus. Glasses are used as equipment for collecting the eyeball electromyographic signals and the electroencephalogram signals, and the two sides of the glasses frame are provided with cavities for accommodating the battery modules and the communication modules, so that the wearing equipment can have acceptable size for users and good wearing comfort.
Referring to fig. 6 to fig. 9, the embodiment of the present application further provides a control method of an intelligent wheelchair, where the intelligent wheelchair includes a wheelchair body, and a specific implementation manner of the control method is consistent with the implementation manner and the achieved technical effect described in the embodiment of the wheelchair, and some contents are not repeated.
As shown in fig. 6, the control method of the intelligent wheelchair includes: collecting eyeball electromyographic signals of a wheelchair occupant (step S1); the collected eye myoelectric signals are processed and converted into control signals to control the movement of the wheelchair body (step S2).
As shown in fig. 7, step S2 includes: identifying movement information of eyes of a wheelchair occupant in the eyeball myoelectric signal (step S21); the movement information of eyes is converted into control signals to drive the wheelchair body to move correspondingly (step S22).
Controlling movement of the wheelchair body includes: when the movement information of the eyes in the eyeball myoelectric signal is recognized to represent that the eyes of the wheelchair occupant are seen forwards, leftwards or rightwards, the wheelchair body is driven to correspondingly move forwards, leftwards or rightwards, and when the movement information of the eyes in the eyeball myoelectric signal is recognized to represent that the eyes of the wheelchair occupant are seen upwards or downwards, the wheelchair body is controlled to correspondingly stop or move backwards.
As shown in fig. 8, the control method of the intelligent wheelchair further includes: an electroencephalogram signal of the wheelchair occupant is acquired (step S3). The step S2 comprises the following steps: the acquired eyeball electromyographic signals and the electroencephalogram signals are processed and converted into control signals so as to control the movement of the wheelchair body.
As shown in fig. 9, the control method of the intelligent wheelchair further includes: the data of the collected eye myoelectric signals are transmitted to the terminal device to display the data of the collected eye myoelectric signals on the terminal device (step S4).
Referring to fig. 10, an embodiment of the present application also provides an electronic device 200, the electronic device 200 comprising at least one memory 210, at least one processor 220, and a bus 230 connecting the different platform systems.
Memory 210 may include readable media in the form of volatile memory, such as Random Access Memory (RAM) 211 and/or cache memory 212, and may further include Read Only Memory (ROM) 213.
The memory 210 further stores a computer program, and the computer program may be executed by the processor 220, so that the processor 220 executes the steps of any one of the methods in the embodiments of the present application, and a specific implementation manner of the computer program is consistent with the implementation manner and the achieved technical effect described in the embodiments of the method, and some contents are not repeated.
Memory 210 may also include a program/utility 214 having a set (at least one) of program modules 215 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
Accordingly, the processor 220 may execute the computer programs described above, as well as the program/utility 214.
Bus 230 may be a local bus representing one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or using any of a variety of bus architectures.
The electronic device 200 may also communicate with one or more external devices 240, such as a keyboard, pointing device, bluetooth device, etc., as well as one or more devices capable of interacting with the electronic device 200 and/or with any device (e.g., router, modem, etc.) that enables the electronic device 200 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 250. Also, the electronic device 200 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through a network adapter 260. Network adapter 260 may communicate with other modules of electronic device 200 via bus 230. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 200, including, but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, data backup storage platforms, and the like.
The embodiment of the application also provides a computer readable storage medium, which is used for storing a computer program, the specific implementation manner of the computer program is consistent with the implementation manner and the achieved technical effect of the embodiment of the method, and part of contents are not repeated.
Fig. 11 shows a program product 300 provided by the present embodiment for implementing the above method, which may employ a portable compact disc read-only memory (CD-ROM) and comprise program code, and may be run on a terminal device, such as a personal computer. However, the program product 300 of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Program product 300 may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
The present application has been described in terms of its purpose, performance, advancement, and novelty, and the like, and is thus adapted to the functional enhancement and use requirements highlighted by the patent statutes, but the description and drawings are not limited to the preferred embodiments of the present application, and therefore, all equivalents and modifications that are included in the construction, apparatus, features, etc. of the present application shall fall within the scope of the present application.
Claims (7)
1. An intelligent wheelchair, comprising:
wheelchair body, wearing device and control device, wherein,
the wearing device is for wearing on the head of a wheelchair occupant, and the wearing device includes: a first acquisition unit that acquires an eye myoelectric signal of a wheelchair occupant, the eye myoelectric signal containing movement information of eyes of the wheelchair occupant; and a communication unit that transmits the eyeball myoelectric signal acquired by the first acquisition unit to the control device;
the wearing device also comprises a second acquisition unit which acquires the electroencephalogram signals of the wheelchair occupant, and the communication unit also transmits the acquired electroencephalogram signals to the control device,
the control device processes the eyeball electromyographic signals and the electroencephalogram signals according to the eyeball electromyographic signals and the electroencephalogram signals from the communication unit and converts the eyeball electromyographic signals and the electroencephalogram signals into control signals so as to control the movement of the wheelchair body;
the wearing device is a pair of glasses, the nose pad of the glasses is provided with an electrode serving as the first collecting unit, and the frame of the glasses is provided with an electrode serving as the second collecting unit.
2. The intelligent wheelchair of claim 1, wherein the intelligent wheelchair comprises a plurality of wheels,
the communication unit also transmits the data of the eyeball electromyographic signals acquired by the first acquisition unit to a terminal device so as to display the acquired data of the eyeball electromyographic signals on the terminal device.
3. The intelligent wheelchair of claim 1, wherein the intelligent wheelchair comprises a plurality of wheels,
the left and right sides of the frame of the glasses are respectively provided with a containing chamber for respectively containing the communication unit and a battery unit for supplying power to the wearing device.
4. A control method for the intelligent wheelchair of any one of claims 1 to 3, characterized in that the control method comprises:
collecting eyeball myoelectric signals of a wheelchair occupant;
identifying movement information of eyes of a wheelchair occupant in the eye myoelectric signal;
collecting an electroencephalogram signal of a wheelchair occupant;
and processing the acquired eyeball electromyographic signals and the acquired brain electrical signals and converting the processed eyeball electromyographic signals and the acquired brain electrical signals into the control signals so as to control the movement of the wheelchair body.
5. The control method according to claim 4, characterized in that the control method further comprises:
and sending the acquired data of the eyeball electromyographic signals to terminal equipment so as to display the acquired data of the eyeball electromyographic signals on the terminal equipment.
6. An electronic device comprising a memory storing a computer program and a processor implementing the steps of the control method according to any one of claims 4-5 when the computer program is executed by the processor.
7. A computer-readable storage medium, characterized in that a computer program is stored, which, when being executed by a processor, carries out the steps of the control method according to any one of claims 4-5.
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| CN113116647B true CN113116647B (en) | 2023-08-29 |
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Citations (13)
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