CN115064158A - Wheelchair control method, electronic device, and storage medium - Google Patents
Wheelchair control method, electronic device, and storage medium Download PDFInfo
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- G—PHYSICS
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- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- G—PHYSICS
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- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/06—Creation of reference templates; Training of speech recognition systems, e.g. adaptation to the characteristics of the speaker's voice
- G10L15/063—Training
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/08—Speech classification or search
- G10L15/18—Speech classification or search using natural language modelling
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Abstract
The invention discloses a control method of a wheelchair, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a voice signal of a user, extracting voiceprint characteristics and comparing the voiceprint characteristics with a preset voiceprint template; if the comparison is passed, carrying out voice recognition on the voice signal of the user, and outputting a recognition result; and when the identification result is a legal instruction, transmitting the legal instruction to a motor control system and controlling the wheelchair through the motor control system. According to the embodiment of the invention, the voice print recognition and the voice recognition are carried out on the voice signal of the user to obtain the legal control instruction of the user, the control of the wheelchair is realized based on the legal instruction, the practicability and the convenience of the wheelchair are improved, meanwhile, the voice print module is added to ensure that the wheelchair only executes the instruction sent by the user, the device is prevented from being operated by other people by mistake, and the problem of low safety is solved.
Description
Technical Field
The invention belongs to the technical field of voice recognition, and particularly relates to a wheelchair control method, electronic equipment and a storage medium.
Background
The wheelchair is a necessary tool for people with mobility disabilities to ride instead of walk in daily life, and in order to meet the diversified demands of the people on daily travel and life and consider the workload of nursing staff, the design and manufacture of the wheelchair are more and more pursuing humanization and diversification; not only the elderly but also the care givers.
At present, in the market, the wheelchair control systems are classified according to control modes, and the following two types of wheelchair control systems are probably provided: hand push type wheelchair, electric wheelchair of button rocker control type. The hand push type wheelchair is controlled by external force: the hand-push type wheelchair is original, needs to be pushed by others, and can be pushed by a user with a sound hand and forearm function. The electric wheelchair controlled by the key rocker is controlled by the key rocker: a user directly operates the keys and the rocker on the wheelchair to send control instructions to the motor control system on the wheelchair, and the motor control system executes corresponding actions.
The hand-push type wheelchair needs to be controlled by external force, so that whether a user is pushed by other people to go out or manually goes out, the user is required to be restricted by other people or physical strength, and the use cost is high; meanwhile, places where people can go in and out are very limited and not convenient enough. The key rocker-controlled electric wheelchair needs the functions of the hands and forearms of a user to be sound because the electric wheelchair is controlled by the key rocker, but the users of the wheelchair are generally elderly people, and the functions of the hands and the forearms are difficult to ensure, so that the scheme is not wide enough for the users; meanwhile, the operation of a series of keys and rockers is more complicated and complicated for older users; inlay button, the rocker on the handrail, regular meeting by the maloperation leads to the wheelchair out of control, has the safety problem.
The inventor finds that: the capacity provided by the technology is single, the actual requirements of users cannot be met in the product design, manual assistance is needed for the hand-push type wheelchair, the use cost is high, the use range is limited, and the use is not convenient enough; for the electric wheelchair, the functions of the hand and the forearm of a user are required to be perfect, the applicability is not wide enough, the operation is complex and complicated, meanwhile, the misoperation risk exists, and the safety is low.
Disclosure of Invention
The embodiment of the invention aims to solve at least one of the technical problems.
In a first aspect, an embodiment of the present invention provides a method for controlling a wheelchair, including: acquiring a voice signal of a user, extracting voiceprint characteristics and comparing the voiceprint characteristics with a preset voiceprint template; if the comparison is passed, carrying out voice recognition on the voice signal of the user, and outputting a recognition result; and when the identification result is a legal instruction, transmitting the legal instruction to a motor control system and controlling the wheelchair through the motor control system.
In a first aspect, an embodiment of the present invention provides a control apparatus for a wheelchair, including: the acquisition module is used for acquiring a voice signal of a user to extract voiceprint characteristics and comparing the voiceprint characteristics with a preset voiceprint template; the recognition module is used for carrying out voice recognition on the voice signal of the user and outputting a recognition result if the comparison is passed; and the control module is used for transmitting the legal instruction to a motor control system and controlling the wheelchair through the motor control system when the identification result is the legal instruction.
In a third aspect, an embodiment of the present invention provides an electronic device, including: the wheelchair comprises at least one processor and a memory which is in communication connection with the at least one processor, wherein the memory stores instructions which can be executed by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the wheelchair control method.
In a fourth aspect, the present invention provides a storage medium, in which one or more programs including execution instructions are stored, where the execution instructions can be read and executed by an electronic device (including but not limited to a computer, a server, or a network device, etc.) to perform any wheelchair control method of the present invention.
In a fifth aspect, embodiments of the present invention also provide a computer program product comprising a computer program stored on a storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform a method of controlling a wheelchair as claimed in any one of the preceding claims.
According to the embodiment of the invention, the voice print recognition and the voice recognition are carried out on the voice signal of the user to obtain the legal control instruction of the user, the control of the wheelchair is realized based on the legal instruction, the practicability and the convenience of the wheelchair are improved, meanwhile, the voice print module is added to ensure that the wheelchair only executes the instruction sent by the user, the device is prevented from being operated by other people by mistake, and meanwhile, the problem of low safety is solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of one embodiment of a method of controlling a wheelchair of the present invention;
FIG. 2 is a schematic view of a voiceprint registration of a control method of the wheelchair of the present invention;
FIG. 3 is a flow chart illustrating the steps of use of the wheelchair control method of the present invention;
FIG. 4 is a schematic structural diagram of a control apparatus of a wheelchair according to an embodiment of the present invention; (ii) a
Fig. 5 is a schematic structural diagram of an embodiment of an electronic device according to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
As used in this disclosure, "module," "device," "system," and the like are intended to refer to a computer-related entity, either hardware, a combination of hardware and software, or software in execution. In particular, for example, an element may be, but is not limited to being, a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. Also, an application or script running on a server, or a server, may be an element. One or more elements may be in a process and/or thread of execution and an element may be localized on one computer and/or distributed between two or more computers and may be operated by various computer-readable media. The elements may also communicate by way of local and/or remote processes based on a signal having one or more data packets, e.g., from a data packet interacting with another element in a local system, distributed system, and/or across a network in the internet with other systems by way of the signal.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiment of the invention provides a control method of a wheelchair, which can be applied to electronic equipment. The electronic device may be a computer, a server, or other electronic products, and the invention is not limited thereto.
Referring to fig. 1, a wheelchair control method according to an embodiment of the present invention is shown.
As shown in fig. 1, in step 101, a voice signal of a user is obtained to perform voiceprint feature extraction and compare the voiceprint feature with a preset voiceprint template;
in step 102, if the comparison is passed, performing voice recognition on the voice signal of the user, and outputting a recognition result;
in step 103, when the identification result is a legal instruction, transmitting the legal instruction to a motor control system and controlling the wheelchair through the motor control system.
In this embodiment, for step 101, a voice signal of a user is acquired by using a sound pickup device such as a microphone, wherein the voice signal is the voice of the user speaking, the voice signal of the user is obtained and then the voiceprint characteristic extraction is carried out on the voice signal, the extracted voiceprint characteristic is compared with the voiceprint characteristic in the preset voiceprint template to confirm whether the voiceprint characteristic of the voice signal of the user is the same as the voiceprint characteristic in the preset voiceprint template or not, for example, an input voice signal is collected by a microphone, the collected voice signal is input to a voiceprint engine, voiceprint features are extracted, the voiceprint engine uses the extracted voiceprint features, performing pattern matching with the voiceprint template, giving a similarity score, comparing with a threshold, if the voiceprint similarity score is lower than the threshold, if the matching is not passed, prompting that the user identity authentication fails and continuing to wait for the user to input a voice signal; then, for step 102, if the voiceprint feature of the user voice signal passes the comparison with the voiceprint feature in the preset voiceprint template, which indicates whether the voiceprint feature of the user voice signal is the same as the voiceprint feature in the preset voiceprint template, then performing voice recognition on the user voice signal, and outputting a recognition result, for example, after the extracted voiceprint is compared with the preset voiceprint template, if the voiceprint similarity score is higher than a threshold, matching is passed, and inputting the voice signal into a voice recognition engine, where the voice recognition engine is used to extract the input voice acoustic feature, and outputting the recognition result recognized by the voice recognition engine.
Finally, in step 103, when the result identified by the identification engine is a legal command, the legal command is transmitted to a motor control system, where the motor control system is used to control the wheelchair, for example, if the result identified is a legal command, such as forward, backward, pause, etc., the result is transmitted to the motor control system, and the motor control system controls the wheelchair to execute the corresponding command; if the identification result is an illegal command, the execution is refused, the user is prompted that the command is illegal, and the user continues to wait for the command to be input again.
According to the method, voiceprint recognition and voice recognition are carried out on voice signals of the user to obtain legal control instructions of the user, control over the wheelchair is achieved based on the legal instructions, the practicability and the convenience of the wheelchair are improved, meanwhile, the voiceprint module is added to ensure that the wheelchair only executes instructions sent by the user, misoperation of other people on the device is prevented, and meanwhile the problem of low safety is solved.
It should be noted that when a user uses the wheelchair control method of the present application for the first time, the user needs to perform voiceprint registration, when the wheelchair is used for the first time, the user first performs target person registration, the user enters registration audio as required in the registration process, and the voiceprint template is established by proposing voiceprint characteristics through the background model.
In some optional embodiments, according to the collected voice signal, the voice signal is firstly extracted by the voiceprint engine, and is subjected to pattern matching with the voiceprint template, a similarity score is given, and is compared with a threshold value, a passing or failing conclusion is obtained, and if the passing result is obtained, the voice signal is sent to the voice recognition engine, wherein the voiceprint engine uses the extracted voiceprint features, is subjected to pattern matching with the voiceprint template, and is given a similarity score, and is compared with the threshold value.
In some optional embodiments, the similarity score of the voiceprint feature is determined by comparing the voiceprint feature with the voiceprint template, the similarity score is compared with a preset threshold, whether the similarity score is greater than the threshold is judged, if the voiceprint similarity score is lower than the threshold, the comparison is not passed, the user is prompted to fail in identity verification, the user continues to wait for inputting a new voice signal, if the voiceprint similarity score is higher than the threshold, the comparison is passed, the voice signal of the user is input to a voice recognition engine for voice acoustic feature extraction, the acoustic feature is decoded by using an acoustic model, the decoding result is searched in a word bank, and the search result is spliced to be the final recognition result, for example, if the voiceprint similarity score is lower than the threshold, the user is prompted to fail in identity verification if the match is not passed, continuing to wait for the user to input a voice signal; and when the voiceprint similarity score is higher than the threshold value, matching is passed, a voice signal is input into a voice recognition engine, the voice recognition engine extracts the input voice acoustic features, the acoustic features are decoded by using an acoustic model to obtain an acoustic feature decoding result, the acoustic feature decoding result is searched in a language model and a dictionary, the searched result is output, and the searched result is spliced into a final recognition result.
According to the method, the voiceprint features are extracted and compared with the voiceprint template to confirm whether the designated person of the wheelchair uses the wheelchair, so that the wheelchair device is guaranteed to only execute the instruction sent by the user, the device is prevented from being operated by other people by mistake, and the problem of low safety is solved.
It should be noted that, when the wheelchair is used daily, the voice signal is firstly extracted by the voiceprint engine, and is subjected to pattern matching with the voiceprint template, a similarity score is given, and is compared with a threshold value to obtain a passing or failing conclusion, and the voice signal is sent to the voice recognition engine after passing, is decoded in the acoustic model, searches the voice model and the dictionary, finally outputs a recognition result, and transmits an instruction to the motor control system; if not, the identification is refused, and the corresponding instruction is not executed.
The method and the device have the advantages that the life self-care ability of the user is greatly enhanced, daily interaction such as dish buying and cooking can be independently completed, the user can walk for a bend and visit the street independently, and the life quality of the user is greatly improved; meanwhile, the family does not need to accompany every time, and a large amount of money is not needed to be spent for the personnel to take care of, so that the self-confidence of the user is increased, and the family expenses are reduced; the voice interaction control method also brings interest to the life of the user and increases joy.
Referring to fig. 2, a voiceprint registration flow diagram of a wheelchair control method provided by the invention is shown.
As shown in fig. 2, for the first time of use, a user needs to be registered with a voiceprint:
1) the user inputs voice according to the requirement;
2) the input voice signal is collected by a microphone;
3) inputting the collected voice signals into a voiceprint engine, and extracting voiceprint characteristics;
4) the voiceprint engine trains a voiceprint template by using the extracted voiceprint features;
5) and generating a voiceprint template, and ending the registration.
Referring to fig. 3, a flow chart of the steps of the wheelchair control method provided by the present invention is shown.
As shown in fig. 3, 1) a user inputs voice in normal use;
2) the input voice signal is collected by a microphone;
3) inputting the collected voice signals into a voiceprint engine, and extracting voiceprint characteristics;
4) the voiceprint engine uses the extracted voiceprint characteristics to perform pattern matching with the voiceprint template, gives a similarity score and compares the similarity score with a threshold value;
5) if the voiceprint similarity score is lower than the threshold value, the matching is not passed, the user is prompted to fail in identity verification, and the user continues to wait for the input of a voice signal;
6) if the voiceprint similarity score is higher than the threshold value, matching is passed, and the voice signal is input into a voice recognition engine;
7) extracting input voice acoustic characteristics by a voice recognition engine;
8) decoding the acoustic features using the acoustic model;
9) searching the decoded result in a language model and a dictionary;
10) splicing the search results into a final recognition result;
11) if the identification result is a legal instruction, such as forward, backward, pause and the like, transmitting the result to a motor control system, and executing a corresponding instruction;
12) if the identification result is an illegal command, the execution is refused, and the user is prompted that the command is illegal, and the command input is continuously waited.
Fig. 4 is a schematic structural diagram of a control apparatus of a wheelchair according to an embodiment of the present invention, and the system can execute the control method of the wheelchair according to any of the above embodiments and is configured in a terminal.
The control execution apparatus 100 of a wheelchair according to the present embodiment includes: an acquisition module 110, an identification module 120 and a control module 130.
The acquiring module 110 is configured to acquire a voice signal of a user, perform voiceprint feature extraction, and compare the voiceprint feature extraction with a preset voiceprint template; the recognition module 120 is configured to perform voice recognition on the voice signal of the user and output a recognition result if the comparison is passed; and the control module 130 is configured to transmit the legal instruction to a motor control system and control the wheelchair through the motor control system when the identification result is the legal instruction.
It should be noted that for simplicity of explanation, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will appreciate that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention. In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In some embodiments, the present invention provides a non-transitory computer readable storage medium, wherein one or more programs including executable instructions are stored in the storage medium, and the executable instructions can be read and executed by an electronic device (including but not limited to a computer, a server, or a network device, etc.) to perform any wheelchair control method of the present invention.
In some embodiments, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of controlling a wheelchair as described in any one of the above.
In some embodiments, an embodiment of the present invention further provides an electronic device, which includes: at least one processor, and a memory communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of controlling a wheelchair.
Fig. 5 is a schematic hardware configuration diagram of an electronic device for executing a wheelchair control method according to another embodiment of the present application, and as shown in fig. 5, the electronic device includes:
one or more processors 510 and memory 520, with one processor 510 being an example in fig. 5.
The apparatus for performing the control method of the wheelchair may further include: an input device 530 and an output device 540.
The processor 510, the memory 520, the input device 530, and the output device 540 may be connected by a bus or other means, and the bus connection is exemplified in fig. 5.
The memory 520, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the control methods of the wheelchair in the embodiments of the present application. The processor 510 executes various functional applications of the server and data processing by running nonvolatile software programs, instructions and modules stored in the memory 520, so as to implement the wheelchair control method of the above method embodiment.
The memory 520 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the control apparatus of the wheelchair, and the like. Further, the memory 520 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 520 optionally includes memory located remotely from the processor 510, which may be connected to the control device of the wheelchair via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 530 may receive input numeric or character information and generate signals related to user settings and functional control of the control apparatus of the wheelchair. The output device 540 may include a display device such as a display screen.
The one or more modules are stored in the memory 520 and, when executed by the one or more processors 510, perform a method of controlling a wheelchair in any of the method embodiments described above.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
The electronic device of the embodiments of the present application exists in various forms, including but not limited to:
(1) mobile communication devices, which are characterized by mobile communication capabilities and are primarily targeted at providing voice and data communications. Such terminals include smart phones, multimedia phones, functional phones, and low-end phones, among others.
(2) The ultra-mobile personal computer equipment belongs to the category of personal computers, has calculation and processing functions and generally has the characteristic of mobile internet access. Such terminals include PDA, MID, and UMPC devices, among others.
(3) Portable entertainment devices such devices may display and play multimedia content. Such devices include audio and video players, handheld game consoles, electronic books, as well as smart toys and portable vehicle navigation devices.
(4) Other onboard electronic devices with data interaction functions, such as a vehicle-mounted device mounted on a vehicle.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A method of controlling a wheelchair, comprising:
acquiring a voice signal of a user, extracting voiceprint characteristics and comparing the voiceprint characteristics with a preset voiceprint template;
if the comparison is passed, carrying out voice recognition on the voice signal of the user, and outputting a recognition result;
and when the identification result is a legal instruction, transmitting the legal instruction to a motor control system and controlling the wheelchair through the motor control system.
2. The method of claim 1, further comprising:
and when the identification result is an illegal instruction, refusing to execute and prompting the user that the instruction is illegal to input again.
3. The method of claim 1, wherein the obtaining of the voice signal of the user for voiceprint feature extraction and comparison with a preset voiceprint template comprises:
responding to the collected voice signal of the user, inputting the voice signal into a voiceprint engine, and extracting voiceprint characteristics of the voice signal;
and comparing the voiceprint characteristics with the preset voiceprint template.
4. The method of claim 3, wherein the comparing the voiceprint features to the preset voiceprint template comprises:
and comparing the voiceprint features with the voiceprint template to confirm the similarity score of the voiceprint features, comparing the similarity score with a preset threshold value, and judging whether the similarity score is greater than the threshold value.
5. The method of claim 4, wherein the determining whether the similarity score is greater than a threshold comprises:
if the voiceprint similarity score is lower than the threshold, the comparison is not passed, the user is prompted to fail in identity verification, and the user continues to wait for inputting a new voice signal.
6. The method of claim 1, wherein if the comparison is passed, performing speech recognition on the speech signal of the user, and outputting a final recognition result comprises:
if the voiceprint similarity score is higher than the threshold value, the comparison is passed, and the voice signal of the user is input into a voice recognition engine for voice acoustic feature extraction;
decoding the acoustic features by using an acoustic model, and searching the decoding result in a word bank;
and splicing the search results into the final recognition result.
7. A control apparatus for a wheelchair comprising:
the acquisition module is used for acquiring a voice signal of a user to extract voiceprint characteristics and comparing the voiceprint characteristics with a preset voiceprint template;
the recognition module is used for carrying out voice recognition on the voice signal of the user and outputting a recognition result if the comparison is passed;
and the control module is used for transmitting the legal instruction to a motor control system and controlling the wheelchair through the motor control system when the identification result is the legal instruction.
8. An electronic device, comprising: at least one processor, and a memory communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the method of any one of claims 1 to 6.
9. A storage medium on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
10. A computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the steps of the method of any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210900955.7A CN115064158A (en) | 2022-07-28 | 2022-07-28 | Wheelchair control method, electronic device, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN116561731A (en) * | 2023-07-11 | 2023-08-08 | 苏州浪潮智能科技有限公司 | Host starting system, method and device, host and electronic equipment |
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