CN200951161Y - Intelligent interactive device based on head-acting for wheel chair - Google Patents
Intelligent interactive device based on head-acting for wheel chair Download PDFInfo
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- CN200951161Y CN200951161Y CN 200620120980 CN200620120980U CN200951161Y CN 200951161 Y CN200951161 Y CN 200951161Y CN 200620120980 CN200620120980 CN 200620120980 CN 200620120980 U CN200620120980 U CN 200620120980U CN 200951161 Y CN200951161 Y CN 200951161Y
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Abstract
The utility model relates to an intelligent wheelchair interactive device based on the head movements, which includes: a collar, an angle sensor, a signal converter module and a digital signal processor. The utility model is based on the collar which is worn by the head part or the neck, thus to make the angle sensor which is arranged in the collar generate the bending deformation through the head or neck movements, further to judge the movement position of the head part or neck; the spatial variability of the angle sensor is converted into the simulation quantity to be output to the digital signal processor through the signal converter module; the digital signal processor makes use of the internal AD converter module to transfer the simulation quantity into the digital quantity and carries out the analysis on a plurality of angle sensor signals according to the fusion algorithm to judge the position of the current head part. The utility model can solve the problem of that the human-machine interactive device of the non-contact sensors can not measure the head movements accurately. The utility model provides the interactive device which is simple, easy and more accurate in measurements to the patients with high-degree spinal cord injuries, motor neuron diseases and other needed occasions.
Description
Technical field
This utility model belongs to the robotics field, relates to a kind of intelligent interaction device based on headwork.
Background technology
In traditional interactive device, be example with the intelligent wheel chair, electric wheelchair can not remedy the forfeiture of user motor capacity well: such as serious spasm (cerebral palsy), and quadriplegia, perhaps cognitive impairment all can hinder their use to electric wheelchair.For a lot of people, all be a very difficult thing even handle electric wheelchair.In order to overcome the problem of such use stick control, there are some new Interface Development to come out.
1. based on the man-machine interface of interactive voice.Interactive voice is a kind of natural exchange way.Utilize password identification and speech synthesis technique, realize the voice dialogue of user and wheelchair and the control of wheel chair sport.Hispanic SIAMO, the multi-modal interactive intelligence wheelchair of Institute of Automation, CAS, the voice controlled wheelchair of Shanghai Communications University has all adopted the man-machine interface of interactive voice.But present voice command just disperses, and can only provide limited tutorial message, realizes that language dialogue truly also has certain restriction; And voice system need sample to the voice of user, could discern afterwards, and its discrimination has certain limit.Under the more noisy situation of environment, discrimination tends to rapid decline.In the environment that family and office etc. are narrower and dynamic barrier is more, promptly enable also to be difficult to realize fully the control function.
2. based on the man-machine interaction of bio signal.Comprise that at present brain streaming current (EEG), eye movement electric current (EOG) are judged the enforcement intention of user by detecting flesh streaming current (EMG), and and then the motion of control wheelchair.People such as Inhuk Moon utilize the flesh streaming current of surveying the levator scapulae that is positioned at the cervical region both sides to catch the action of user shoulder, control advancing of wheelchair, turn left the motion of turning right.The eye movement electric current is the oculomotor method of voltage sensing that is produced by polarization and depolarization between record cornea and the retina.By the motion that comes the perception eyeball at circumference of eyes placement electrode, and then definite people's sight line is controlled the angular velocity and the linear velocity of wheelchair in real time.The Wheelesley of MIT goes up the hawkeye system of use formally based on this mode.
3. based on the man-machine interaction of head movement.Head movement be can direction indication a very natural mode, can directly be used for substituting stick and keep similar control.And this mode is brought the probability of independent control for the patient of those height spinal cord injuries and motorius disease.Utilize in the early stage research of head, Jaffe etc. utilize two sonacs to measure people's head movement position, thereby realize utilizing the motion of head pose control wheelchair.The Tew of Oxford University has developed a kind of head movement awareness apparatus, and this equipment has used a four-quadrant sensillum opticum (PhotoQuadrant Sensor), decides the position of head according to the relative scale of each quadrant photoelectric current.People such as Nguyen are by installing the motion that inclination sensor and wireless technology realize the Long-distance Control wheelchair at head.In addition, the variation that detects the Edge Distance of eyes afterbody and face by photographic head judges that head movement also is a kind of method.
4. based on respirometric man-machine interaction.Thereby the user can activate expectation by blowing on a pressure switch output realizes the control to wheelchair.Hispanic SIAMO has adopted this type of drive.Detect the intensity and the direction of the respiratory air flow of input by differential pneumatic sensor, output through processing and coding after control command be sent to navigation module.Control the linear velocity of wheelchair according to the intensity of sensor signal, control the angular velocity of wheelchair according to the direction of air-flow.
Summary of the invention
Accurate inadequately to the measurement of head irregular movement at noncontacting proximity sensor, in order to solve the technical problem of existence, this utility model purpose is based on the interactive mode of the measurement of head contact, and a kind of interactive device of controlling simply and easily is provided.
For achieving the above object, this utility model provides a kind of intelligent wheel chair interactive device based on head or cervical region action, comprising:
Necklace is used to be worn on head or cervical region outside;
Angular transducer is installed in the necklace inboard, is used to detect the necklace deformation that is caused by head or neck movement;
The signal conversion module that is connected with angular transducer is converted into the crooked deformation quantity of angular transducer analog quantity and exports to digital signal processor;
The digital signal processor that is connected with signal conversion module, the analogue signal amount that will come from angular transducer by its inner AD modular converter is converted into digital quantity, is used to judge head or the current position of cervical region.
According to embodiment of the present utility model, described necklace is resilient material so that necklace soft be close to head surface.
According to embodiment of the present utility model, described angular transducer adopts a plurality of flexible angular transducers, selects the quantity of angular transducer according to demand for use, is installed on the necklace respectively, and is distributed in the optional position of necklace.
According to embodiment of the present utility model, described signal conversion module comprises: divider resistance, follower; Ground connection after one end of angular transducer is connected with a divider resistance, the C point between angular transducer and the divider resistance connects the input of follower.
According to embodiment of the present utility model, described necklace bottom is the metallic channel of angular transducer, and metallic channel is embedded with the lead of angular transducer.
This utility model adopts the contact type measurement of angular transducer, solved prior art noncontacting proximity sensor interactive device, to the accurate inadequately problem of the measurement of headwork, this utility model is based on the interactive mode of head contact type measurement, by to the head-mount necklace, the position of head is judged in the necklace deformation that detection is caused by head movement, for height spinal cord injury, motorius disease patient and other occasion that needs provide a kind of simple, convenient, interactive device of having improved certainty of measurement.
Description of drawings
Fig. 1 is the intelligent interaction device discipline coil structures figure of this utility model based on headwork;
Fig. 2 is the intelligent interaction device structure chart of this utility model based on headwork;
Fig. 3 is that this utility model is based on signal conversion module structure chart in the intelligent interaction device of headwork;
The specific embodiment
Below in conjunction with accompanying drawing this utility model is described in detail, be to be noted that described embodiment only is intended to be convenient to understanding of the present utility model, and it is not played any qualification effect.
Embodiment 1: the intelligent wheel chair human-computer interaction device that is based on headwork
According to the intelligent wheel chair interactive device discipline coil structures figure of Fig. 1 of the present utility model, comprising based on headwork:
Described angular transducer 1, can be according to demand by the user voluntarily design and installation be convenient to according to user cervical region characteristics flexible configuration in the flexible angular transducer quantity of necklace 2 inboards with the optional position is installed.
Necklace 2 adopts elastic material, and for example cotton is knitted resilient materials such as material or sponge, is shaped as rectangle, and its length and width can set up on their own according to user neck characteristics.
Fig. 2 is the intelligent wheel chair interactive device structure chart of this utility model based on headwork, and according to this utility model Fig. 2, the human-computer interaction device that the described head of embodiment is based on people's headwork comprises:
The lead 5 of being drawn by necklace 2 is connected in signal conversion module 6; Signal conversion module 6 is connected in the AD modular converter of digital signal processor 7, the crooked deformation quantity of angular transducer 1 is converted into analog quantity and exports to digital signal processor 7, digital signal processor 7 output signals control drive motors 10.
As Fig. 3, this utility model comprises: divider resistance 8, follower 9 based in the intelligent wheel chair interactive device of headwork shown in signal conversion module 6 structure charts.
In its circuit, angular transducer 1 can be reduced to a conversion.One end of angular transducer 1 is connected a constant pressure source V
RefOn, ground connection after the other end of angular transducer 1 is connected with a resistance 8, the C point between angular transducer 1 and the resistance 8 is connected with the input of follower 9.When angular transducer 1 bends, cause that its inner resistance changes, the current potential that C is ordered changes thereupon, and by follower 9 output voltage V
Out, output voltage V
OutBy digital signal processor 7.If allow angular transducer 1 keep certain angle of bend constant, output voltage V
OutTo keep constant.
1, angular transducer modeling: the change in resistance of angular transducer and angle are non-linear relation, adopt improved BP neutral net to come the nonlinear characteristic of match pick off, and Kolmogovor research is pointed out, for any one continuous function Φ: I
n→ R
n, (I is unit closed interval [0,1] to Y=φ (X), X=[x
1, x
2..., x
n]), an all available input layer has n neuron, a hidden layer 2n+1 neuron, and output layer m neuronic three-layer neural network structure accurately realizes.Therefore, at angular transducer, we have set up a 1-3-1 network.Be input as the deformation quantity of angular transducer, be output as corresponding angle value, hidden layer has comprised three neurons.10 pairs of sampled datas have been adopted, study step-length α=0.2, error F (x)=0.01.
2, the Filtering Processing of sensor sample value: because the existence of noise makes sensor sample value discontinuous and smooth, the method for employing medium filtering is carried out smoothing processing to sampled value, avoids interference of noise for the sampled value of the angular transducer of real-time collection.
3. the differentiation of head movement direction: in the present embodiment, respectively in the place ahead of cervical region, angular transducer has been installed on left side and right side.In the head movement process,, get the location determination of current angle value the maximum as head movement by calculating angle value when first three angular transducer.
1) when being judged to be propulsion, drive the change type of signal and angle value:
v
r＝aθ
f
v
l＝aθ
f
V wherein
r, v
lBe respectively the left and right wheels actuating speed of wheelchair, θ
fThe angle of bend of expression forward sense device, a represents the linear transformation coefficient.
2) when being judged to be the left-hand motion, drive the change type of signal and angle value:
Annotate: negative sign represents that speed is the direction opposite with current movement velocity.
3) when being judged to be the dextrad motion, drive the change type of signal and angle value:
Because the seriality of angular transducer real time of data acquisition and head movement, can realize level and smooth control through the motor control based on the wheelchair of headwork of top algorithm, thus the comfortableness when having guaranteed that user is handled.
It is that core makes up the system based on the intelligent interaction device of headwork that described digital signal processor 7 can adopt TI series DSP digital signal processor, or the DSP digital signal processor of other model makes up the system based on the intelligent interaction device of headwork.
Necklace 2 is worn on cervical region, and the motion of cervical region will make the angular transducer 1 that is installed in the necklace 2 that deformation takes place, and change thereby produce angle of bend; The form that will change with analog quantity through signal conversion module 6 flows to digital signal processor 7; Digital signal processor 7 utilizes its inner AD modular converter that the analogue signal amount is converted into digital quantity, and angular transducer 1 signal analysis is judged the position of working as fore head according to above-mentioned algorithm.
Among the embodiment:
After user is worn necklace 2, by nodding, the left avertence head, the headwork of right avertence head can be controlled advancing of electric wheelchair effectively by circuit arrangement drive motors 10 of the present utility model, turns left the motion on the right-hand rotation direction.
Embodiment 2: in order to satisfy special requirement this utility model can be the intelligent interaction device that adopts based on mechanical part or the action of animal class.
When mechanical part or animal class have motion or action, also be to utilize this utility model to measure operating position, thereby realize utilizing action to finish mutual control, satisfy certain special requirement.
Describing above is to be used to realize embodiment of the present utility model, it should be appreciated by those skilled in the art, in any modification or partial replacement that does not break away from scope of the present utility model, all belongs to this utility model claim and comes restricted portion.
Claims (5)
1, a kind of intelligent wheel chair interactive device based on headwork comprises:
Necklace (2) is used to be worn on head or cervical region outside;
Angular transducer (1) is installed in necklace (2) inboard, is used to detect necklace (2) deformation that is caused by head or neck movement;
The signal conversion module (6) that is connected with angular transducer (1) is converted into the crooked deformation quantity of angular transducer (1) analog quantity and exports to digital signal processor (7);
The digital signal processor (7) that is connected with signal conversion module (6), the analogue signal amount that will come from angular transducer (1) by its inner AD modular converter is converted into digital quantity, is used to judge head or the current position of cervical region.
2, by the described intelligent wheel chair interactive device of claim 1, it is characterized in that: necklace (2) be resilient material so that necklace gentle (2) and be close to or neck surface.
3, by the described intelligent wheel chair interactive device of claim 1, it is characterized in that:
Described angular transducer (1) adopts a plurality of flexible angular transducers, selects the quantity of angular transducer (1) according to demand for use, is installed in respectively on the necklace (2), and is distributed in the optional position of necklace (2).
4, by the described intelligent wheel chair interactive device of claim 1, it is characterized in that:
Described signal conversion module comprises: divider resistance (8), follower (9); Ground connection after one end of angular transducer (1) is connected with a divider resistance (8), the C point between angular transducer (1) and the divider resistance (8) links to each other with the input of follower (9).
5, by the described intelligent wheel chair interactive device of claim 1, it is characterized in that: necklace 2 bottoms are the metallic channel (4) of angular transducer, and metallic channel (4) is embedded with lead (5).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620120980 CN200951161Y (en) | 2006-09-22 | 2006-09-22 | Intelligent interactive device based on head-acting for wheel chair |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620120980 CN200951161Y (en) | 2006-09-22 | 2006-09-22 | Intelligent interactive device based on head-acting for wheel chair |
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| CN200951161Y true CN200951161Y (en) | 2007-09-26 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102727350A (en) * | 2012-06-29 | 2012-10-17 | 中航华东光电有限公司 | Electrically-powered wheelchair control device and control method thereof |
| CN103784269A (en) * | 2014-01-22 | 2014-05-14 | 广东省工伤康复中心 | Intelligent boosting type wheelchair capable of being controlled through low jaw |
| CN105534648A (en) * | 2016-01-14 | 2016-05-04 | 马忠超 | Wheelchair control method and control device based on brain waves and head movements |
| CN106974780A (en) * | 2017-03-13 | 2017-07-25 | 邝子佳 | Method for controlling intelligent wheelchair based on difference navigation attitude |
| CN109262586A (en) * | 2018-08-29 | 2019-01-25 | 冬之阳 | A kind of waist power assisting device and its control method |
-
2006
- 2006-09-22 CN CN 200620120980 patent/CN200951161Y/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102727350A (en) * | 2012-06-29 | 2012-10-17 | 中航华东光电有限公司 | Electrically-powered wheelchair control device and control method thereof |
| CN102727350B (en) * | 2012-06-29 | 2015-05-13 | 中航华东光电有限公司 | Electrically-powered wheelchair control device and control method thereof |
| CN103784269A (en) * | 2014-01-22 | 2014-05-14 | 广东省工伤康复中心 | Intelligent boosting type wheelchair capable of being controlled through low jaw |
| CN103784269B (en) * | 2014-01-22 | 2016-10-19 | 广东省工伤康复中心 | A kind of boosting type can lower jaw control intelligent wheel chair |
| CN105534648A (en) * | 2016-01-14 | 2016-05-04 | 马忠超 | Wheelchair control method and control device based on brain waves and head movements |
| CN106974780A (en) * | 2017-03-13 | 2017-07-25 | 邝子佳 | Method for controlling intelligent wheelchair based on difference navigation attitude |
| CN109262586A (en) * | 2018-08-29 | 2019-01-25 | 冬之阳 | A kind of waist power assisting device and its control method |
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