CN209695601U - A kind of system based on SSVEP brain control Wheelchair indoor controlled training - Google Patents
A kind of system based on SSVEP brain control Wheelchair indoor controlled training Download PDFInfo
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- CN209695601U CN209695601U CN201821891295.6U CN201821891295U CN209695601U CN 209695601 U CN209695601 U CN 209695601U CN 201821891295 U CN201821891295 U CN 201821891295U CN 209695601 U CN209695601 U CN 209695601U
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Abstract
The utility model discloses a kind of systems based on SSVEP brain control Wheelchair indoor controlled training, including house, camera, position line, barrier, wheelchair, positioning and obstacle avoidance sensor, fixed space parameter, interior space information, Obstacle Position, camera, destination locations, middle control training system, preferably travelling route and training route.The beneficial effects of the utility model are: the camera that house four corners are fixed is multipoint wireless camera group, indoor barrier and wheelchair position real-time image information can be obtained, operator can efficiently know the details such as the case where present position and Obstacle Position in time, practical operation in order to operator's later period to wheelchair, the system can allow operator to carry out needing the movement to the environment and wheelchair of surrounding to have certain understanding before operation wheelchair, can effectively improve the manipulation ability by patient to wheelchair.
Description
Technical field
It is specially a kind of to be based on SSVEP brain control Wheelchair indoor the utility model relates to a kind of system of indoor controlled training
The system of controlled training belongs to medical treatment and rebuilds apparatus field.
Background technique
With the development of brain-computer interface, brain control wheelchair is hard towards critical limb movement limitation patient's such as amyotrophia funiculus lateralis
Change, the movement of spinal cerebellar degeneration disease, or in the in terms of important in inhibiting for being directed to paralytic.Sufferer is played
Subjective initiative, preferably and the external world carries out information transmitting also with definite meaning.Based on Steady State Visual Evoked Potential
Brain control wheelchair, using the extraneous visual stimulus signal centainly encoded when cardinal principle so that brain visual cortex generate it is corresponding
The VEP current potential of frequency.Then eeg signal acquisition and data processing are carried out by electrode to the occipital region Hou Ding, finally by feature point
Class algorithm obtains output order relevant to stimulus coding and controls wheelchair.SSVEP brain control wheelchair advantage is that information passes
Defeated rate is higher, and EEG signals are stronger, and required training is less.Although it is certain to tend to addition by researcher in wheelchair design
Artificial intelligence component, avoided collision in the environment for having barrier.But when people needed when being controlled due to SSVEP wheelchair
Eye fixation screen for a period of time, therefore needs the movement to the environment and wheelchair of surrounding to have centainly before carrying out operation wheelchair
Solution.Especially environment barrier is relatively fixed indoors, and needs more accurately to manipulate to wheelchair.How patient is made more
Good understanding indoor environment and manipulation ability by patient to wheelchair is improved, is currently to face one of solution actually to ask
Topic.
Utility model content
The purpose of this utility model is that solve the above-mentioned problems and provides a kind of based on SSVEP brain control Wheelchair indoor
The system of controlled training.
The utility model achieves the above object through the following technical schemes: a kind of be based on SSVEP brain control Wheelchair indoor control
The system for making training, including house, camera, position line, barrier, wheelchair, positioning and obstacle avoidance sensor, fixed space ginseng
Number, interior space information, Obstacle Position, wheelchair position, destination locations, middle control training system, preferably travelling route and instruction
Practice route；Four corners inside the house are fixed with camera, and the fixed camera of the house four corners is multiple spot
Wireless camera group is provided with position line on the ground inside the house, and the position line will be divided into each side inside house
The zonule of a length of 5mm, the barrier are arbitrarily placed in the inside in house, and the wheelchair is placed on inside house, the room
Within doors portion can by measure obtain the fixed fixed space parameters such as its internal length, the position size of door and beam column from
And obtain the interior space information in house, the interior space information input to middle control training system, the Obstacle Position by
Camera obtains and its location information is uploaded to middle control training system, the middle control training system according to interior space information,
Obstacle Position and wheelchair position obtain the image of house inner space and carry out image procossing obtain phasor coordinate figure and will arrow
Amount coordinate diagram is directly displayed and can be received the control instruction of brain control wheelchair sending, and the wheelchair position is by positioning and avoidance
Sensor obtains and uploads to middle control training system, and when the wheelchair and barrier in the middle control training system collide, wheelchair stops
Only and the prompt tone for paying attention to operation is provided, the information of the destination locations uploads to middle control according to individual's intention by manipulator and instructs
Practice system, the middle control training system can cook up preferred travelling route, and the preferred travelling route is ordered according to safety, operation
It enables from more to less and path as far as recently by being planned, the trained route is that operator instructs according to optimal path in middle control
Practice progress operation training in system and is formed by route.
Further, in order to indoor barrier and wheelchair position real-time image information, the house four corners can be obtained
Fixed camera is multipoint wireless camera group.
Further, in order to preferably position the position of wheelchair and barrier, the position line will be divided into often inside house
A side length is the zonule of 5mm.
Further, in order to enable the case where operator can efficiently know present position in time and Obstacle Position etc.
Details, the middle control training system obtain empty inside house according to interior space information, Obstacle Position and wheelchair position
Between image and carry out image procossing and obtain phasor coordinate figure and phasor coordinate figure is directly displayed and brain control can be received
The control instruction that wheelchair issues.
Further, in order to allow operator to know each dangerous point in simulation process in training, simulated operation is improved
Authenticity, it is described it is middle control training system in wheelchair and barrier collide when, wheelchair stops and provide pay attention to operate prompt
Sound.
Further, in order to enable the route cooked up more safely and conveniently operator's operation, the preferred traveling road
Line according to safety, operational order from more to less and path as far as recently by being planned.
The training method of the brain control Wheelchair indoor controlled training system makes to be made of following steps:
1) the fixed space parameter that the length inside house, the position size of door and beam column etc. are fixed, is measured, is obtained
The interior space information in house, then by interior space information input into middle control training system；
2) ground inside house, is divided by the zonule that each side length is mm according to position line, preferably to determine
Coordinate demarcates position；
3), middle control training system integrates interior space information, camera and positioning and the information of obstacle avoidance sensor,
And display and event handling interface are provided for operator；
4), operator is inputted on destination locations and the path for wanting walking in middle control training system with coordinate point mode
Key point, middle control training system scored and weighted according to condition, is calculated score according to rule and is assessed path, selects scoring
Higher preferred travelling route recommends operator；
5), operator can in the case where wheelchair need not be operated according to preferred travelling route in middle control training system into
Row operation training, training route length, used time, order number and collision frequency be recorded respectively and and preferably travelling route into
The relatively adduction average value of calculating standard and actual ratio of going is scoring, until operator's scoring is dividing 80% or more can grasp
Make true wheelchair；
6), in the true in-house operation of wheelchair, middle control training system display reminding path is refreshed as reference, and with 1 second
Primary speed, real-time display Actual path provide help to operator, and operation scoring is provided after operation.
The beneficial effects of the utility model are: the system design of the brain control Wheelchair indoor controlled training is rationally, house quadrangle
The fixed camera in place is multipoint wireless camera group, can obtain indoor barrier and wheelchair position real-time image information, fixed
Bit line will be divided into the zonule that each side length is 5mm inside house, convenient for recording the coordinate of wheelchair and barrier, thus preferably
The position of wheelchair and barrier is positioned, middle control training system is obtained according to interior space information, Obstacle Position and wheelchair position
The image of house inner space simultaneously carries out image procossing and obtains phasor coordinate figure and directly display by phasor coordinate figure and can
The case where to receive the control instruction of brain control wheelchair sending, operator is allowed efficiently to know present position in time and obstacle
The details such as object location, the practical operation in order to operator's later period to wheelchair, the middle wheelchair and obstacle controlled in training system
When object collides, wheelchair stops and provides the prompt tone for paying attention to operation, allows operator to know in training each in simulation process
The authenticity of simulated operation is improved in dangerous point, to reduce danger in later period practical operation, improves safety, preferably advances
Route according to safety, operational order from more to less and path as far as recently by being planned so that the route cooked up is more
Add safely and conveniently operator's operation, which needs the environment and wheel to surrounding before operator can be allowed to carry out operation wheelchair
The movement of chair has certain understanding, can effectively improve the manipulation ability by patient to wheelchair.
Detailed description of the invention
Fig. 1 is Tthe utility model system structural schematic diagram；
Fig. 2 is the utility model house schematic diagram of internal structure；
Fig. 3 is the utility model embodiment planning path and training path schematic diagram
In figure: 1, house, 2, camera, 3, position line, 4, barrier, 5, wheelchair, 6, positioning and obstacle avoidance sensor, 7, solid
Determine spatial parameter, 8, interior space information, 9, Obstacle Position, 10, camera, 11, destination locations, 12, middle control training system
System, 13, preferred travelling route, 14, training route.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
A kind of system based on SSVEP brain control Wheelchair indoor controlled training referring to FIG. 1-2, including house 1, camera
2, position line 3, barrier 4, wheelchair 5, positioning and obstacle avoidance sensor 6, fixed space parameter 7, interior space information 8, barrier
Position 9, wheelchair position 10, destination locations 11, middle control training system 12, preferably travelling route 13 and training route 14；It is described
Four corners inside house 1 are fixed with camera 2, and the fixed camera 2 of 1 four corners of house is multipoint wireless camera shooting
Head group is provided with position line 3 on the ground inside the house 1, and the position line 3 is by each side length is divided into inside house
The zonule of 5mm, the barrier 4 are arbitrarily placed in the inside in house 1, and the wheelchair 5 is placed on inside house 1, the room
Inside room 1 the fixed fixed space parameters 7 such as its internal length, the position size of door and beam column can be obtained by measuring
To obtain the interior space information 8 in house 1, the interior space information 8 is input to middle control training system 12, the barrier
Position 9 is obtained by camera 2 and its location information is uploaded to middle control training system 12, and the middle control training system 12 is according to room
Interior spatial information 8, Obstacle Position 9 and wheelchair position 10 obtain the image of 1 inner space of house and carry out image procossing obtaining
Phasor coordinate figure and the control instruction that phasor coordinate figure is directly displayed to and can be received the sending of brain control wheelchair, the wheelchair
Position 10 is obtained with obstacle avoidance sensor 6 by positioning and is uploaded to middle control training system 12, the wheel in the middle control training system 12
When chair 5 and barrier 4 collide, wheelchair 5 stops and provides the prompt tone for paying attention to operation, and the information of the destination locations 11 is by grasping
Control person uploads to middle control training system 12 according to individual's intention, and the middle control training system 12 can cook up preferred travelling route
13, the preferred travelling route 13 according to safety, operational order from more to less and path as far as recently by being planned, institute
Stating trained route 14 is that operator carries out operation training according to optimal path in middle control training system 12 and is formed by route.
A kind of technical optimization scheme as the utility model: the fixed camera 2 of 1 four corners of house be multiple spot without
Line camera group；The position line 3 will be divided into the zonule that each side length is 5mm inside house；The middle control training system 12
The image of 1 inner space of house is obtained according to interior space information 8, Obstacle Position 9 and wheelchair position 10 and is carried out at image
Reason obtains phasor coordinate figure and phasor coordinate figure is directly displayed to and can be received the control instruction of brain control wheelchair sending；Institute
When stating wheelchair 5 and the collision of barrier 4 in control training system 12, wheelchair 5 stops simultaneously providing the prompt tone for paying attention to operation；It is described
It is preferred that travelling route 13 according to safety, operational order from more to less and path as far as recently by being planned.
The training method of the brain control Wheelchair indoor controlled training system is made of following steps:
1) the fixed space parameter 7 that the length inside house 1, the position size of door and beam column etc. are fixed, is measured, is obtained
It is input in middle control training system 12 to the interior space information 8 in house 1, then by interior space information 8；
2) ground inside house 1, is divided by the zonule that each side length is 5mm according to position line 3, so as to preferably really
Position fixing demarcates position；
3), middle control training system 12 carries out interior space information 8, camera 2 and positioning and the information of obstacle avoidance sensor 6
Integration, and display and event handling interface are provided for operator；
4), operator inputs destination locations 11 in middle control training system 12 with coordinate point mode and wants the road of walking
Key point on diameter, middle control training system 12 are scored and are weighted according to condition, are calculated score according to rule and are assessed path, choosing
The higher preferred travelling route 13 that scores out recommends operator；
5), operator can in the case where wheelchair need not be operated according to preferred travelling route 13 in middle control training system 12
Middle carry out operation training, length, used time, order number and the collision frequency of training route 14 are recorded respectively and and preferred traveling
Route 13 is compared the adduction average value of calculating standard and actual ratio for scoring, until operator scores at 80 point 80%
True wheelchair 5 can be operated above；
6), in 5 true in-house operation of wheelchair, middle 12 display reminding path of control training system is brushed as reference, and with 1 second
New primary speed, real-time display Actual path provide help to operator, and operation scoring is provided after operation.
It is as shown in Figure 3: when the utility model is used, measuring the position size of the length inside house, door first
The fixed fixed space parameter with beam column etc., obtains the interior space information in house, then by interior space information input to middle control
In training system, the ground inside house is divided into the zonule that each side length is mm further according to position line, so as to preferably really
Position fixing demarcates position, and then operator inputs destination locations and desired row in middle control training system with coordinate point mode
The key point on path walked, middle control training system are scored and are weighted according to condition, are calculated score according to rule and are assessed road
Diameter selects the higher preferred travelling route of scoring and recommends operator, and then operator can be the case where need not operate wheelchair
The lower preferred travelling route of basis carries out operation training in middle control training system, the length of training route, the used time, order number and
Collision frequency is recorded respectively and the adduction average value for being compared calculating standard and actual ratio with preferred travelling route is
Scoring, until operator's scoring is dividing 80% or more true wheelchair can be operated, in the true in-house operation of wheelchair, middle control instruction
Practice system display reminding path as reference, and refresh primary speed with the second, real-time display Actual path is provided to operator
It helps, operator can be changed according to circumstances according to the path of display.
For the visual stimulus brain electroresponse signal record for obtaining occipital region, the 10-20 state that can be formulated according to international electroencephalography
Border standard selects six electrodes of O1, Oz, O2, PO3, POz, PO4 to acquire EEG signals, in addition using Cz as reference electrode, FPz and
The midpoint of Fz is ground electrode.Flicker frequency f is ordinarily selected between 5-15Hz, and the signal quality obtained in this way is preferable.Here it dodges
Bright frequency selection is respectively that 8,9,10,11 and 12Hz respectively represents stopping, rear, left and right and preceding.One operating process period of wheelchair
T is broadly divided into two parts time period t 1 and t2 manipulator watches scintillation screen attentively, flashing block according to set flicker frequency mode and when
Long t1 flashes on the screen, and certain time t2 flashes block and stops flashing thereafter, and operator can rest and see during this period
Ambient enviroment is examined, subsequently into next identical operating process period t.T, t1 and t2 can be according to controller individual's operational circumstances
It is independently defined with level of comfort feeling.The design t, t1 and t2 proposed adoption 4s, 2s, 2s.Normal electric wheelchair speed s is 0-
6km/h is adjustable, since system is designed for particular patients ', to ensure that manipulator's safety and comfortable the design wheelchair speed v1 propose
It is set to 25cm/s, left-right rotation angle ω is 15 °/s.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting
Related claim.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (4)
1. a kind of system based on SSVEP brain control Wheelchair indoor controlled training, it is characterised in that: including house (1), camera
(2), position line (3), barrier (4), wheelchair (5), positioning and obstacle avoidance sensor (6), fixed space parameter (7), the interior space
Information (8), Obstacle Position (9), wheelchair position (10), destination locations (11), middle control training system (12), preferably traveling road
Line (13) and training route (14)；Four internal corners of the house (1) are fixed with camera (2), in the house (1)
It is provided on the ground in portion position line (3), the barrier (4) is arbitrarily placed in the inside of house (1), and the wheelchair (5) is put
Set it is internal in house (1), the house (1) it is internal can by measure obtain its internal length, door position size and
The fixed fixed space parameter (7) such as beam column is to obtain the interior space information (8) in house (1), the interior space information
(8) it is input to middle control training system (12), the Obstacle Position (9) is obtained by camera (2) and uploaded its location information
To middle control training system (12), the wheelchair position (10) is obtained with obstacle avoidance sensor (6) by positioning and uploads to middle control and trained
The information of system (12), the destination locations (11) uploads to middle control training system (12) according to individual's intention by manipulator,
The middle control training system (12) can be cooked up preferred travelling route (13), and the trained route (14) is operator according to optimal
Path carries out operation training in middle control training system (12) and is formed by route.
2. a kind of system based on SSVEP brain control Wheelchair indoor controlled training according to claim 1, it is characterised in that:
The fixed camera (2) of house (1) four corners is multipoint wireless camera group.
3. a kind of system based on SSVEP brain control Wheelchair indoor controlled training according to claim 1, it is characterised in that:
The position line (3) will be divided into the zonule that each side length is 5mm inside house.
4. a kind of system based on SSVEP brain control Wheelchair indoor controlled training according to claim 1, it is characterised in that:
The preferred travelling route (13) according to safety, operational order from more to less and path as far as recently by being planned.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821891295.6U CN209695601U (en) | 2018-11-16 | 2018-11-16 | A kind of system based on SSVEP brain control Wheelchair indoor controlled training |
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| CN201821891295.6U CN209695601U (en) | 2018-11-16 | 2018-11-16 | A kind of system based on SSVEP brain control Wheelchair indoor controlled training |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109276379A (en) * | 2018-11-16 | 2019-01-29 | 中国医学科学院生物医学工程研究所 | A kind of system and method based on SSVEP brain control Wheelchair indoor controlled training |
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2018
- 2018-11-16 CN CN201821891295.6U patent/CN209695601U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109276379A (en) * | 2018-11-16 | 2019-01-29 | 中国医学科学院生物医学工程研究所 | A kind of system and method based on SSVEP brain control Wheelchair indoor controlled training |
| CN109276379B (en) * | 2018-11-16 | 2024-03-22 | 中国医学科学院生物医学工程研究所 | System and method for indoor control training of brain-controlled wheelchair based on SSVEP |
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