WO2022015132A1 - System for the remote control of objects, machines or equipment by eog signals - Google Patents

System for the remote control of objects, machines or equipment by eog signals Download PDF

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Publication number
WO2022015132A1
WO2022015132A1 PCT/MX2020/000019 MX2020000019W WO2022015132A1 WO 2022015132 A1 WO2022015132 A1 WO 2022015132A1 MX 2020000019 W MX2020000019 W MX 2020000019W WO 2022015132 A1 WO2022015132 A1 WO 2022015132A1
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Prior art keywords
signals
eog
objects
receiver
remote control
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PCT/MX2020/000019
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Spanish (es)
French (fr)
Inventor
Oralia NOLASCO JÁUREGUI
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Nolasco Jauregui Oralia
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Publication of WO2022015132A1 publication Critical patent/WO2022015132A1/en

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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
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/398—Electrooculography [EOG], e.g. detecting nystagmus; Electroretinography [ERG]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R25/00—Deaf-aid sets, i.e. electro-acoustic or electro-mechanical hearing aids; Electric tinnitus maskers providing an auditory perception

Definitions

  • the present invention is an aid so that people with motor limitations and little mobility can control a mobile vehicle to approach or move away objects, as well as remotely control objects, such as televisions, fans, switches, etc., by means of electrooculographic signals (EOG) , since it provides a decoder device to control objects at a distance through facial gestures, specifically a combination of winks, eye movements and time gaps.
  • EOG electrooculographic signals
  • Uses include, but are not limited to sports, entertainment, film, medical, military, social, gaming, simulators, and other vocational and commercial applications for training, educational, or rehabilitative purposes to mitigate, prevent, or control symptoms of motion sickness, simulation, motion sickness, sickness of spatial disorientation, 3D vision syndrome or vision-induced movement.
  • the device has a head-attachable unit that includes orientation detection and an element to sense the movement of the person's face or head, using various human response sensors.
  • United States patent US10028703 (B) "System usable for detecting or measuring biosignals", has a set of sensors to detect electroencephalographic (EEG) signals from a user.
  • An electronic subsystem comprises an energizer module for distributing power to the system, and a signal processing module for processing EEG signals from the sensor array.
  • a set of sensor interfaces couples the sensor with the electronic subsystem.
  • Each sensor interface comprises a pre-gain AC coupling and shift level coupled to an amplifier, where the amplifier is coupled to a post-gain AC coupling and shift level coupled to the electronics.
  • the system can also be used to detect body movement signals and eye movement signals.
  • the United States patent US10117576 (B2), refers to a system, method and means accessible to a computer, to determine the movement of the eye by means of the image of the retina, providing feedback for the acquisition of signals from the retina.
  • the apparatus defines a camera with a native frame rate of 180 frames per second. It focuses mainly on the movement of the retina of the eye.
  • the aforementioned devices represent certain difficulties for the user, they require training since they are based on EEG signals.
  • EEG electroencephalographic
  • EOG electrooculogram
  • EOG signals are of the muscular type and it is only necessary to interpret if there is presence or absence of the signal. Although a personalization period between the device and the patient is required, because, depending on their individual syndrome, it will be the amplitudes and duration of the signals that will be generated. However, it is easier for the user to learn and execute commands through an EOG signal code that requires voluntary movements and custom timing; furthermore, EOG signals are easier to interpret and customize by software than EEG signals.
  • the present invention proposes a simple solution when working with signals that execute binary commands such as zoom in or out, turn on or off and, therefore, do not require the interpretation of coordinate planes (X, Y), being unnecessary the location in a plane. Cartesian of the object to move.
  • an object of the present invention is an object-carrying vehicle that is controlled by means of remote signals generated from a headset that interprets facial gestures to convert them into commands and instructions for the vehicle.
  • An additional object of the present invention is the customization of commands, to control a specific object through eye movements and winks.
  • Another object of the present invention is a communication code based on facial gestures, specifically eye movements and winks that are converted to specific commands and subsequently transmitted to different devices or equipment, to carry out specific actions, having an intelligent command assigned to each device, in such a way that the possibility of confusion is eliminated.
  • Figure 1 generally represents the remote control system for objects, devices or equipment using EOG signals, with an EOG signal acquisition device and a receiver for the EOG signals. decoder device to control objects at a distance by winking.
  • Figure 2 represents a block diagram that generally shows the components of the decoder device to control objects at a distance by means of winks.
  • FIG 3 is a block diagram showing the acquisition of an electrooculographic (EOG) type signal in the emitter.
  • EOG electrooculographic
  • Figure 4 is a block diagram that represents the circuit in charge of changing the gain reference levels depending on the patient's signals.
  • Figure 5 is a block diagram representing the emitter with test or reference points.
  • Figure 6 is a block diagram showing the transmitter's communication, control, and operation modules.
  • Figure 7 shows in a block diagram the elements that make up the receiver that will be installed in the object to be controlled.
  • Figure 8 diagrammatically shows the test points on the receiver.
  • Figures 9 to 11 show an example of an object to be controlled.
  • Figure 12 shows the logical sequence of operation of the present invention.
  • the present invention is a remote control system for objects, devices or equipment using EOG signals, which is mainly composed of: a) An EOG signal acquisition device (1) placed on an accessory adaptable to the user's head, b) A signal receiver and transducer (7) placed on the object to be controlled, c) An EOG signal code to execute commands using facial gestures.
  • the EOG signal acquisition device (1) is an adaptable accessory, placed on the user's head, preferably in the form of a headband, which we will generically name as a headband, which has with three electrodes, a positive signal acquisition electrode (2), a negative signal acquisition electrode (3) and a reference electrode (4), which will be in contact around the user's eye, the electrodes being adjustable in position, to monitor the user's eye movements; where the acquired signals will be received, processed and transmitted by means of a transmitter (5) that has an emission antenna (6) for signal transmission, the transmitter (5) being supported on the EOG signal acquisition device (1 ).
  • the signals transmitted by the transmitter (5) will be received by a reception antenna (10) associated with a receiver (7), which will be placed on the object to be controlled.
  • the receiver (7) will be in charge of converting the received signals into commands.
  • the EOG signal acquisition device (1) is configured to receive signals from the user, which it interprets as a code, the code being formed by a combination of gestures and movements that they include winks of the eye, eye movements (left, right, up and down) and timeouts (te).
  • the start is always done with a wink, which will be interpreted by the EOG signal acquisition and transmission device (1) as the start of an instruction.
  • the device is personalized through a series of biological acquisitions of the patient such as the time te, To determine if it is an EOG signal, it is necessary to make a gain adjustment for each user, since it is not the same to acquire the signal generated by a child , than the signal generated by an older adult, which implies a level adjustment.
  • the transmitter (5) sends the command to the receiver (7), placed on the device to be controlled; the receiver (7) transmits the command to different drivers or actuators, so that it is executed.
  • the receiver (7) has learning elements (AI) to be able to make adjustments. In the event that the eye movement does not correspond to a command, the receiver (7) goes into hibernation to reduce energy consumption.
  • AI learning elements
  • the block diagram shows the emitter (5) and the receiver (7) that must be placed on the object to be controlled; Both the transmitter (5) and the receiver (7) have a radio (8 and 9), with the radio of the transmitter (8) emitting the wireless signal generated by the transmitter (5) and the radio of the receiver ( 9) the one who receives the signal.
  • the components of the emitter (5) are shown in a block diagram, where the positive acquisition electrode (2), the negative acquisition electrode (3) and the reference electrode (4) are shown. ).
  • the electrodes (2) and (3) send the signals to the Notch filter (11) which is in charge of filtering the external signals coming from the electrodes; once the signals are filtered, they pass through an analog signal amplifier (12) that amplifies the signal by means of a gain selector circuit (13); if the acquired signal (14) is large enough, then the signal is not amplified and is transmitted as an output signal (15) through the connection port for amplified signal, which is sent to a microcontroller (16).
  • the reference selector circuit (17) which also serves to protect the patient from possible shocks, since it is permanently sensing the correct reference level (current) that it must the device is actively working and if the EOG signal acquisition and transmission device (1) is at rest, the reference value goes to a minimum current value; in case of requiring to modify the reference signal, it is fed back to the reference electrode (4) through the reference selector port (18) of the microcontroller (16).
  • the transmitter has a first battery charging circuit (19) and batteries (not shown) which allow a continuous use of at least eighteen hours.
  • the reference electrode (4) continuously emits a signal to the comparator (21), which compares the signals it receives with the signal sent by the microcontroller (16) through the microcontroller connection port for the reference selector ( 18), which compares the microcontroller signal with the reference electrode signal (4);
  • the signal (22) is the output of the analog/digital converter DAC of a comparator (21); while block (23) represents the value of the gain selector; in case there is any change in the reference signal communicated through the connection port of the microcontroller for the output signal of the port for reference selector (18), it is compared in the comparator (21) and in case of any In exchange, it obtains the adjusted signal and sends it to the reference electrode (4).
  • Figure 5 shows a block diagram of the emitter, with the reference or test points, where the microcontroller signals can be verified and monitored.
  • (16) represents the microcontroller
  • (24) represents the amplified EOG signal
  • (23) is the gain selector value
  • (18) is the reference selector port in connection with the microcontroller (16) to communicate the output signal (15) of the reference selector circuit (17), while (22) the output signal of the DAC analog/digital converter and (25) the output signal of the emitter radio (8).
  • Figure 6 shows the use and communication of the microcontroller modules (16) of the transmitter (5); these modules being the radio of the emitter (8), which has the communication module (26) type SPI, which allows the radio (8) to communicate with the microcontroller (16), through the microcontroller analog to digital converter (27), which changes the signals from analog to digital.
  • the interrupt module (28) is a module that works through interrupts, it is the one that indicates which signal has priority, in case it receives a signal in the middle of a decoding, the signal cannot be attended until the decoding is finished in progress.
  • the module (29) is a timer module that receives the external signals and compares them with an internal table/ once the time is recorded, which is the personalized time for each patient, through the timer module (29), the values are compared.
  • the memory module (30) houses the recorded commands, which can be modified based on the needs of the patient, being possible to customize it for each patient; additionally, the memory module (30) also stores information related to the environment, such as distances, obstacles, etc.
  • the comparator (21) in case of receiving small signals, compares and decides if an amplification is required or not.
  • the module (31) is an integrating module and the (32) is a PWM pulse width modulator, which together form a DAC, different from the one previously mentioned; The advantage is that the DAC keeps essential characteristics that allow the signal to be decoded at specific times; (33) is a digital amplifier and (35) is the emitter battery charging circuit.
  • the microcontroller (5) also has a UART module (34) that is responsible for controlling the serial ports and devices.
  • Figure 7 shows the minimum elements necessary in the receiver (7) to function properly in communication with the transmitter (5), said receiver would be placed in the basket or in the object to be controlled (40).
  • the receiver counts with a radio (9) to receive signals from the transmitter (5) and communicate commands to the object to be controlled (40).
  • command decoder and comparator module 41
  • the commands are also recorded in the command comparator and decoder module (41); additionally, for each emitter (5), you can have a variable number of receivers (7), depending on the number of objects (40) to control and therefore, the codes for a light switch will not be the same as for a vehicle carrying objects or a television; additionally, the receiver has a command execution module (42) that receives the instruction and executes the command depending on the object to be controlled (40), since the codes vary depending on the object, they will not be interpreted in the same way if they are from a fan or a power switch.
  • the receiver (7) also has a sensor module (43) that continuously records environmental conditions, in the case of a vehicle, it could be proximity sensors, obstacles, presence, ground characteristics, etc., said module of sensors is associated with an artificial intelligence module (44) that "learns" and makes adjustments so that the object to be controlled (40) can have a certain autonomy; the receiver (7) also has a receiver battery charging circuit (45) that allows continuous operation of 18 hours with minimal use.
  • the object to be controlled can be any object that can be controlled by electronic logic circuits, such as a fan, a switch, a vehicle, a television, etc.
  • the receiver (7) has test points associated with the microprocessor (16), which allow monitoring the signals that are transiting and therefore, there are signals equivalent to those of the emitter (5), in such a way that there is a connection with the digital analog converter (21), with the reference level selector (17), with the selector of gain (22) and the amplified EOG signal (24).
  • Figure 9 shows that the invention is made up of the EOG signal acquisition and transmission device (1) and a tracked vehicle (51) that supports a basket (52), which has a pair of supports (53) preferably metallic, where the objects to be moved that the user requires are placed, and at least one pair of harnesses (54) that improve the support of the basket (52).
  • the tracked vehicle (51) moves by means of a pair of tracks (55) placed in parallel, propelled by two drive wheels (56) each driven by a pair of motors ( 57) associated one to each driving wheel (56) and two free turning wheels (58), in such a way that they allow a synchronous, asynchronous or opposite movement, conferring mobility and maneuverability to the tracked vehicle (51).
  • a code of EOG signals has been generated, which are captured by the EOG signal acquisition and transmission device (1) and sent to the transmitter (5) which processes the analog signals, converts them into digital signals and communicates them to the receiver (7) located on the tracked vehicle (51); the receiver (7) decodes the signals and converts them into commands or orders for the movement of the tracked vehicle, according to the code in table 1, where the distance "A", is a personalized value for each user, it is a measure proportional to the longest distance between the object and the user, that is, the longest distance in the room is divided by 6 and this value is assigned to the variable "A", in such a way that the room measures 6A and therefore, the distance "A" is worked with multiples, where the maximum distance to travel is 5A, which is found in the last command of the table.
  • Table 1 Description of the main intelligent commands based on waiting time and distances A.
  • Figure 12 shows, by means of a flow chart, the logical operating process for the previously described example, where the personalization of the time te (60) for each patient is first required, which corresponds to the space of time between two voluntary turns; once the time te has been customized, the emitter (5) is able to recognize if an eye movement corresponds to a command-type signal.
  • the EOG signal acquisition and transmission device (1) When the EOG signal acquisition and transmission device (1) detects a movement, it must perform a discrimination of time (61), to validate if this movement corresponds to an EOG signal, in case of a negative EOG (62), the device returns to hibernate (63) to save energy; in case of affirmative EOG (64), the EOG signal is acquired (65) and gain adjustment (66) and level adjustment (67) are performed; once the adjustments have been made, the validation (68) is carried out, to verify whether or not the signal corresponds to a command, if not, the signal corresponds to a non-command (69) and therefore, it is a movement of the eye, and the device returns to hibernate (63), if so, it is a command (70), the emitter communicates the command to the receiver (7), and this in turn performs the interaction with the sensors ( 71) to obtain information about the environment and activates the actuators (72) for the movement of the tracked vehicle (51), executes the command (73) and acquires feedback

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Abstract

The present invention relates to a system for the remote control of objects, machines or equipment by means of EOG signals, which preferably is headband-shaped, and which is associated with an object to be controlled, thus enabling a user with reduced or zero motor functions or with limited movement to remotely control objects by means of facial gestures such as winking and eye movements, using a code which converts the movements into commands to be executed by the object to be controlled, such as moving closer or further away.

Description

SISTEMA DE CONTROL REMOTO DE OBJETOS, APARATOS E EQUIPOS MEDIANTE SEÑALES EOG REMOTE CONTROL SYSTEM OF OBJECTS, APPLIANCES AND EQUIPMENT THROUGH EOG SIGNALS
CAMPO TÉCNICO DE LA INVENCIÓN TECHNICAL FIELD OF THE INVENTION
La presente invención es un auxiliar para que personas con limitaciones motrices y poca movilidad, puedan controlar un vehículo móvil para acercarse o alejar objetos, así como controlar objetos a distancia, tales como televisores, ventilador, apagadores, etcétera, mediante señales electrooculográficas (EOG), ya que aporta un dispositivo decodificador para controlar objetos a distancia mediante gestos faciales, específicamente una combinación de guiños, movimientos oculares y espacios de tiempo. The present invention is an aid so that people with motor limitations and little mobility can control a mobile vehicle to approach or move away objects, as well as remotely control objects, such as televisions, fans, switches, etc., by means of electrooculographic signals (EOG) , since it provides a decoder device to control objects at a distance through facial gestures, specifically a combination of winks, eye movements and time gaps.
ANTECEDENTES DE LA INVENCIÓN BACKGROUND OF THE INVENTION
Existen comercialmente bandas para la cabeza que cuentan con sensores de electroencefalografía EGG, acompañado de una aplicación para teléfono inteligente que convierte las señales EGG en audio que retroalimenta al usuario vía audífonos; un aparato similar es Neurosky©, el cual también cuenta con sensores EGG. La patente de los Estados Unidos US 9994228 (B2) publicada el 12 de junio de 2018, refiere un sistema de control de vehículos como automóviles, trenes, autobuses, aviones, botes o dispositivos tales como vehículos operativos, controlador, computadoras e interfaces de computadora en respuesta a una acción humana medida en ambiente provocativo. Los usos incluyen, pero no se limitan a deportes, entretenimiento, cine, medicina, militar, social, juegos, simuladores y otras aplicaciones vocacionales y comerciales para entrenamiento, propósitos de educación o rehabilitación para mitigar, previniendo o controlando síntomas de mareo, simulación, mareo por juegos, enfermedad de desorientación espacial, síndrome de visión 3D o movimiento inducido por la visión. There are commercial headbands that have EGG electroencephalography sensors, accompanied by a smartphone application that converts EGG signals into audio that feeds back to the user via headphones; a similar device is Neurosky©, which also has EGG sensors. United States patent US 9994228 (B2) published on June 12, 2018, refers to a control system for vehicles such as cars, trains, buses, planes, boats or devices such as operating vehicles, controller, computers and computer interfaces in response to a measured human action in a provocative environment. Uses include, but are not limited to sports, entertainment, film, medical, military, social, gaming, simulators, and other vocational and commercial applications for training, educational, or rehabilitative purposes to mitigate, prevent, or control symptoms of motion sickness, simulation, motion sickness, sickness of spatial disorientation, 3D vision syndrome or vision-induced movement.
El dispositivo tiene una unidad acoplable a la cabeza que incluye detección de orientación y un elemento para sentir el movimiento de la cara o de la cabeza de la persona, mediante varios sensores de respuesta humana. The device has a head-attachable unit that includes orientation detection and an element to sense the movement of the person's face or head, using various human response sensors.
La patente de los Estados Unidos US10028703 (B) "Sistema utilizable para detectar o medir bioseñales", cuenta con un conjunto de sensores para detectar señales electroencefalográficas (EEG) de un usuario. Un subsistema electrónico comprende un módulo energizador para distribuir la energía al sistema, y un módulo de procesamiento de señal para procesar las señales EEG del conjunto de sensores. Un conjunto de interfaces de sensores acopla el sensor con el subsistema electrónico. Cada interfaz de sensor conprende un acoplamiento de corriente alterna (AC) de pre-ganancia y un nivel de cambio acoplado a un amplificador, en donde el amplificador está acoplado a un acoplamiento AC post-ganancia y un nivel de cambio acoplado al sistema electrónico. El sistema también puede ser utilizado para detectar señales de movimiento corporal y señales de movimiento ocular. United States patent US10028703 (B) "System usable for detecting or measuring biosignals", has a set of sensors to detect electroencephalographic (EEG) signals from a user. An electronic subsystem comprises an energizer module for distributing power to the system, and a signal processing module for processing EEG signals from the sensor array. A set of sensor interfaces couples the sensor with the electronic subsystem. Each sensor interface comprises a pre-gain AC coupling and shift level coupled to an amplifier, where the amplifier is coupled to a post-gain AC coupling and shift level coupled to the electronics. The system can also be used to detect body movement signals and eye movement signals.
La patente de los Estados Unidos US10117576 (B2), refiere un sistema, método y medio accesible para computadora, para determinar el movimiento del ojo mediante la imagen de la retina, proveyendo retroalimentación para adquisición de señales desde la retina. El aparato define una cámara con una tasa de cuadros nativa de 180 cuadros por segundo. Se enfoca principalmente al movimiento de la retina del ojo. Los dispositivos anteriormente mencionados representan ciertas dificultades para el usuario, requieren de un entrenamiento ya que se basan en señales EEG (electroencefalográficas), que son señales compuestas y tienen varios tipos de señales inmersas en una sola (alfa, beta y gama), además de que las señales EEG cambian dependiendo del estado de alerta del individuo, es decir, si está despierto, si está durmiendo y dependiendo de la fase del sueño en que se encuentra. The United States patent US10117576 (B2), refers to a system, method and means accessible to a computer, to determine the movement of the eye by means of the image of the retina, providing feedback for the acquisition of signals from the retina. The apparatus defines a camera with a native frame rate of 180 frames per second. It focuses mainly on the movement of the retina of the eye. The aforementioned devices represent certain difficulties for the user, they require training since they are based on EEG signals. (electroencephalographic), which are compound signals and have several types of signals immersed in one (alpha, beta and gamma), in addition to the EEG signals changing depending on the individual's state of alert, that is, if he is awake, if he is sleeping and depending on the phase of sleep you are in.
Por su parte, las señales EOG (electrooculograma) son de tipo muscular y solo se requiere interpretar si hay presencia o ausencia de la señal. Si bien se requiere un periodo de personalización entre el dispositivo y el paciente, debido a que, dependiendo de su síndrome individual, serán las amplitudes y duración de las señales que serán generadas. Sin embargo, es más fácil para el usuario, aprender y ejecutar comandos mediante un código de señales EOG que requiere de movimientos voluntarios y tiempos personalizados; además, las señales EOG son más fáciles de interpretar y de personalizar por medio de software, con respecto a las señales EEG. On the other hand, the EOG (electrooculogram) signals are of the muscular type and it is only necessary to interpret if there is presence or absence of the signal. Although a personalization period between the device and the patient is required, because, depending on their individual syndrome, it will be the amplitudes and duration of the signals that will be generated. However, it is easier for the user to learn and execute commands through an EOG signal code that requires voluntary movements and custom timing; furthermore, EOG signals are easier to interpret and customize by software than EEG signals.
La presente invención plantea una solución sencilla al trabajar con señales que ejecutan comandos binarios tales como acercar o alejar, encender o apagar y, por lo tanto, no requieren la interpretación de planos coordenados (X, Y), siendo innecesario la ubicación en un plano cartesiano del objeto a mover. The present invention proposes a simple solution when working with signals that execute binary commands such as zoom in or out, turn on or off and, therefore, do not require the interpretation of coordinate planes (X, Y), being unnecessary the location in a plane. Cartesian of the object to move.
OBJETO DE LA INVENCIÓN OBJECT OF THE INVENTION
La presente invención tiene como objeto que personas con escasa o nula motricidad o limitaciones de movimiento que les impida trasladarse de un punto a otro, cuenten con la capacidad de acercarse o alejar objetos que requieran, utilizando una diadema con decodificador y transmisor con la cual el usuario puede controlar, mediante gestos, un vehículo que contiene los objetos que necesita. Adicionalmente, un objeto de la presente invención es un vehículo porta objetos que es controlado mediante señales remotas generadas desde una diadema que interpreta gestos faciales para convertirlos en comandos e instrucciones para el vehículo. The purpose of the present invention is that people with little or no motor skills or movement limitations that prevent them from moving from one point to another, have the ability to approach or move away objects that they require, using a headband with a decoder and transmitter with which the The user can control, through gestures, a vehicle that contains the objects he needs. Additionally, an object of the present invention is an object-carrying vehicle that is controlled by means of remote signals generated from a headset that interprets facial gestures to convert them into commands and instructions for the vehicle.
Un objeto adicional de la presente invención es la personalización de comandos, para controlar un objeto especifico mediante movimientos oculares y guiños. An additional object of the present invention is the customization of commands, to control a specific object through eye movements and winks.
Otro objeto de la presente invención es un código de comunicación basado en gestos faciales, específicamente movimientos oculares y guiños que son convertidos a comandos específicos y transmitidos posteriormente a diferentes aparatos o equipos, para realizar acciones específicas, teniendo asignado un comando inteligente para cada aparato, de tal forma que se elimina la posibilidad de confusión. Another object of the present invention is a communication code based on facial gestures, specifically eye movements and winks that are converted to specific commands and subsequently transmitted to different devices or equipment, to carry out specific actions, having an intelligent command assigned to each device, in such a way that the possibility of confusion is eliminated.
BREVE DESCRIPCIÓN DE LAS GIGURAS BRIEF DESCRIPTION OF THE FIGURES
Los detalles característicos de este novedoso sistema de control remoto de objetos, aparatos o equipos mediante señales EOG, se muestran claramente en la siguiente descripción y en las figuras que se acompañan, asi como una ilustración de aquella, y siguiendo los mismos signos de referencia para indicar las partes mostradas. Sin embargo, dichas figuras se muestran a manera de ejemplo y no deben de ser consideradas como limitativas para la presente invención. The characteristic details of this novel remote control system for objects, devices or equipment using EOG signals are clearly shown in the following description and in the accompanying figures, as well as an illustration thereof, and following the same reference signs for indicate the parts shown. However, said figures are shown by way of example and should not be considered as limiting the present invention.
La figura 1 representa de forma general el sistema de control remoto de objetos, aparatos o equipos mediante señales EOG, con dispositivo de adquisición de señales EOG y receptor del dispositivo decodificador para controlar objetos a distancia mediante guiños. Figure 1 generally represents the remote control system for objects, devices or equipment using EOG signals, with an EOG signal acquisition device and a receiver for the EOG signals. decoder device to control objects at a distance by winking.
La figura 2 representa un diagrama bloques que muestra de manera general los componentes del dispositivo decodificador para controlar objetos a distancia mediante guiños. Figure 2 represents a block diagram that generally shows the components of the decoder device to control objects at a distance by means of winks.
La figura 3 es un diagrama de bloques que muestra la adquisición de señal tipo electrooculográfica (EOG) en el emisor. La figura 4 es un diagrama de bloques que representa el circuito encargado de cambiar los niveles de referencia de ganancia dependiendo de las señales del paciente. Figure 3 is a block diagram showing the acquisition of an electrooculographic (EOG) type signal in the emitter. Figure 4 is a block diagram that represents the circuit in charge of changing the gain reference levels depending on the patient's signals.
La figura 5 es un diagrama de bloques que representa el emisor con los puntos de prueba o referencia.Figure 5 is a block diagram representing the emitter with test or reference points.
La figura 6 es un diagrama de bloques que muestra los módulos de comunicación, control, y operación del emisor. Figure 6 is a block diagram showing the transmitter's communication, control, and operation modules.
La figura 7 muestra en un diagrama de bloques los elementos que conforman el receptor que estará instalado en el objeto a controlar. Figure 7 shows in a block diagram the elements that make up the receiver that will be installed in the object to be controlled.
La figura 8 muestra mediante un diagrama los puntos de prueba en el receptor. Figure 8 diagrammatically shows the test points on the receiver.
Las figuras 9 a 11, muestran un ejemplo de un objeto a controlar. Figures 9 to 11 show an example of an object to be controlled.
La figura 12 muestra la secuencia lógica de operación de la presente invención. DESCRIPCIÓN DETALLADA DE LA INVENCIÓN Figure 12 shows the logical sequence of operation of the present invention. DETAILED DESCRIPTION OF THE INVENTION
La presente invención es un sistema de control remoto de objetos, aparatos o equipos mediante señales EOG, la cual se compone principalmente de: a) Un dispositivo de adquisición de señales EOG (1) colocado en un accesorio adaptable a la cabeza del usuario, b) Un receptor y transductor de señales (7) colocado en el objeto a controlar, c) Un código de señales EOG para ejecutar comandos mediante gestos faciales. The present invention is a remote control system for objects, devices or equipment using EOG signals, which is mainly composed of: a) An EOG signal acquisition device (1) placed on an accessory adaptable to the user's head, b) A signal receiver and transducer (7) placed on the object to be controlled, c) An EOG signal code to execute commands using facial gestures.
En donde, de acuerdo con la figura 1, el dispositivo de adquisición de señales EOG (1) es un accesorio adaptable, colocado en la cabeza del usuario, preferentemente con forma de diadema, al cual de forma genérica nombraremos como diadema, mismo que cuenta con tres electrodos, un electrodo de adquisición de señal positiva (2), un electrodo de adquisición de señal negativa (3) y un electrodo de referencia (4), los cuales estarán en contacto alrededor del ojo del usuario, siendo los electrodos ajustables en posición, para monitorear los movimientos oculares del usuario; donde las señales adquiridas serán recibidas, procesadas y transmitidas por medio de un emisor (5) que cuenta con una antena de emisión (6) para transmisión de señales, estando el emisor (5) soportado en el dispositivo de adquisición de señales EOG (1). Where, according to figure 1, the EOG signal acquisition device (1) is an adaptable accessory, placed on the user's head, preferably in the form of a headband, which we will generically name as a headband, which has with three electrodes, a positive signal acquisition electrode (2), a negative signal acquisition electrode (3) and a reference electrode (4), which will be in contact around the user's eye, the electrodes being adjustable in position, to monitor the user's eye movements; where the acquired signals will be received, processed and transmitted by means of a transmitter (5) that has an emission antenna (6) for signal transmission, the transmitter (5) being supported on the EOG signal acquisition device (1 ).
Las señales transmitidas por el emisor (5) serán recibidas por una antena de recepción (10) asociada a un receptor (7), que estará colocado en el objeto que se desea controlar. El receptor (7) se encargará de convertir las señales recibidas en comandos. The signals transmitted by the transmitter (5) will be received by a reception antenna (10) associated with a receiver (7), which will be placed on the object to be controlled. The receiver (7) will be in charge of converting the received signals into commands.
El dispositivo de adquisición de señales EOG (1) está configurado para recibir señales por parte del usuario, las cuales interpreta como un código, estando conformando el código por una combinación de gestos y movimientos que incluyen guiños del ojo, movimientos del ojo (izquierda, derecha, arriba y abajo) y tiempos de espera (te). The EOG signal acquisition device (1) is configured to receive signals from the user, which it interprets as a code, the code being formed by a combination of gestures and movements that they include winks of the eye, eye movements (left, right, up and down) and timeouts (te).
El inicio siempre se hace con un guiño, lo cual será interpretado por el dispositivo de adquisición y transmisión de señales EOG (1) como el inicio de una instrucción. The start is always done with a wink, which will be interpreted by the EOG signal acquisition and transmission device (1) as the start of an instruction.
El dispositivo se personaliza mediante una serie de adquisiciones biológicas del paciente como el tiempo te, Para determinar si se trata de una señal EOG, se requiere hacer un ajuste de ganancia para cada usuario, ya que no es igual adquirir la señal generada por un niño, que la señal generada por un adulto mayor, lo que implica un ajuste de nivel. The device is personalized through a series of biological acquisitions of the patient such as the time te, To determine if it is an EOG signal, it is necessary to make a gain adjustment for each user, since it is not the same to acquire the signal generated by a child , than the signal generated by an older adult, which implies a level adjustment.
Cuando el dispositivo de adquisición y transmisión de señales EOG (1) detecta que el movimiento realmente se trata de un comando de acuerdo con el código de comandos establecido, entonces el transmisor (5) envía el comando al receptor (7), colocado en el aparato que se desea controlar; el receptor (7) transmite el comando a diferentes drivers o actuadores, para que sea ejecutado. When the EOG signal acquisition and transmission device (1) detects that the movement is actually a command according to the command code set, then the transmitter (5) sends the command to the receiver (7), placed on the device to be controlled; the receiver (7) transmits the command to different drivers or actuators, so that it is executed.
El receptor (7) cuenta con elementos de aprendizaje (IA) para poder realizar ajustes. En caso de que el movimiento ocular no corresponda a un comando, el receptor (7) se pone a hibernar para disminuir el consumo de energía. The receiver (7) has learning elements (AI) to be able to make adjustments. In the event that the eye movement does not correspond to a command, the receiver (7) goes into hibernation to reduce energy consumption.
Con referencia a la figura 2, el diagrama de bloques muestra al emisor (5) y al receptor (7) que deberá estar colocado en el objeto que se desea controlar; tanto el emisor (5) como el receptor (7), cuentan con un radio (8 y 9), siendo el radio del emisor (8) el que emite la señal inalámbrica generada por el emisor (5) y el radio del receptor (9) el que recibe la señal. Con referencia a la figura 3, se muestra en un diagrama de bloques los componentes del emisor (5), en donde se muestran el electrodo de adquisición positiva (2), el electrodo de adquisición negativa (3) y el electrodo de referencia (4). Los electrodos (2) y (3) envían las señales al filtro Notch (11) que se encarga de filtrar las señales externas provenientes de los electrodos; una vez filtradas las señales, pasan por un amplificador analógico de señal (12) que amplifica la señal mediante un circuito selector de ganancia (13); si la señal adquirida (14) es lo suficientemente grande, entonces la señal no se amplifica y es transmitida como señal de salida (15) a través del puerto de conexión para señal amplificada, la cual se envía a un microcontrolador (16). Además de la ganancia, también es necesario cambiar el nivel de referencia mediante el circuito selector de referencia (17), el cual también sirve para proteger al paciente de posibles descargas, ya que permanentemente está censando el nivel de referencia (corriente) correcto que debe estar trabajando el aparato de forma activa y si el dispositivo de adquisición y transmisión de señales EOG (1) está en reposo, el valor de referencia se va a un valor mínimo de corriente; en caso de requerir modificar la señal de referencia se retroalimenta al electrodo de referencia (4) mediante el puerto para selector de referencia (18) del microcontrolador (16).With reference to Figure 2, the block diagram shows the emitter (5) and the receiver (7) that must be placed on the object to be controlled; Both the transmitter (5) and the receiver (7) have a radio (8 and 9), with the radio of the transmitter (8) emitting the wireless signal generated by the transmitter (5) and the radio of the receiver ( 9) the one who receives the signal. With reference to figure 3, the components of the emitter (5) are shown in a block diagram, where the positive acquisition electrode (2), the negative acquisition electrode (3) and the reference electrode (4) are shown. ). The electrodes (2) and (3) send the signals to the Notch filter (11) which is in charge of filtering the external signals coming from the electrodes; once the signals are filtered, they pass through an analog signal amplifier (12) that amplifies the signal by means of a gain selector circuit (13); if the acquired signal (14) is large enough, then the signal is not amplified and is transmitted as an output signal (15) through the connection port for amplified signal, which is sent to a microcontroller (16). In addition to the gain, it is also necessary to change the reference level through the reference selector circuit (17), which also serves to protect the patient from possible shocks, since it is permanently sensing the correct reference level (current) that it must the device is actively working and if the EOG signal acquisition and transmission device (1) is at rest, the reference value goes to a minimum current value; in case of requiring to modify the reference signal, it is fed back to the reference electrode (4) through the reference selector port (18) of the microcontroller (16).
Adicionalmente, el transmisor cuenta con un primer circuito de carga de batería (19) y baterías (no mostradas) lo que permite un uso continuo de al menos dieciocho horas. Additionally, the transmitter has a first battery charging circuit (19) and batteries (not shown) which allow a continuous use of at least eighteen hours.
Con referencia a la figura 4, en donde se ejemplifica el circuito encargado de cambiar los niveles de referencia de ganancia (20) dependiendo de las señales del paciente, se tiene que en caso de que las señales no sean vistas por dispositivo de adquisición y transmisión de señales EOG (1), entonces hace un cambio de referencia. El electrodo de referencia (4) emite una señal de forma continua hacia el comparador (21), el cual compara las señales que recibe con la señal que envía el microcontrolador (16) a través del puerto de conexión del microcontrolador para selector de referencia (18), la cual compara la señal del microcontrolador con la señal del electrodo de referencia (4); la seftal (22) es la salida del convertidor analógico/digital DAC de un comparador (21); mientras que el bloque (23) representa el valor del selector de ganancia; en caso de haber algún cambio en la señal de referencia comunicada a través del puerto de conexión del microcontrolador para la señal de salida del puerto para selector de referencia (18), ésta es comparada en el comparador (21) y en caso de existir algún cambio, obtiene la señal ajustada y la envía al electrodo de referencia (4). With reference to figure 4, where the circuit in charge of changing the gain reference levels (20) depending on the patient's signals is exemplified, it is necessary that in the event that the signals are not seen by the acquisition and transmission device of EOG signals (1), then does a reference change. The reference electrode (4) continuously emits a signal to the comparator (21), which compares the signals it receives with the signal sent by the microcontroller (16) through the microcontroller connection port for the reference selector ( 18), which compares the microcontroller signal with the reference electrode signal (4); the signal (22) is the output of the analog/digital converter DAC of a comparator (21); while block (23) represents the value of the gain selector; in case there is any change in the reference signal communicated through the connection port of the microcontroller for the output signal of the port for reference selector (18), it is compared in the comparator (21) and in case of any In exchange, it obtains the adjusted signal and sends it to the reference electrode (4).
La figura 5 muestra un diagrama de bloques del emisor, con los puntos de referencia o prueba, en donde se pueden verificar y monitorear las señales del microcontrolador. El (16) representa al microcontrolador, mientras que el (24) representa la seftal EOG amplificada, (23) es valor del selector de ganancia, (18) es el puerto para selector de referencia en conexión con el microcontrolador (16) para comunicar la señal de salida (15) del circuito selector de referencia (17), mientras que (22) la seftal de salida del convertidor analógico/digital DAC y (25) la seftal salida del radio del emisor (8). Figure 5 shows a block diagram of the emitter, with the reference or test points, where the microcontroller signals can be verified and monitored. (16) represents the microcontroller, while (24) represents the amplified EOG signal, (23) is the gain selector value, (18) is the reference selector port in connection with the microcontroller (16) to communicate the output signal (15) of the reference selector circuit (17), while (22) the output signal of the DAC analog/digital converter and (25) the output signal of the emitter radio (8).
La figura 6 muestra el uso y comunicación de los módulos del microcontrolador (16) del emisor (5); siendo estos módulos el radio del emisor (8), que cuenta con el módulo de comunicación (26) tipo SPI, el cual permite comunicar el radio (8) con el microcontrolador (16), a través del convertidor analógico digital del microcontrolador (27), que cambia las señales de analógico a digital. El módulo de interrupciones (28) es un módulo que trabaja por medio de interrupciones, es el que indica cuál señal tiene prioridad, en caso de que reciba una señal en medio de una decodificación, no se puede atender la señal hasta que termine la decodificación en curso. El módulo (29) es un módulo temporizador que recibe las señales externas y las compara con una tabla interna/ una vez grabado el tiempo te que es el tiempo personalizado para cada paciente, por medio del módulo temporizador (29), se comparan los valores y se pueden ejecutar los comandos; el módulo de memoria (30) aloja los comandos grabados, los cuales pueden ser modificados con base a las necesidades del paciente, siendo posible personalizarlo para cada paciente; adicionalmente, el módulo de memoria (30) también guarda información relativa al entorno, tal como distancias, obstáculos, etc. El comparador (21), en caso de recibir señales pequeñas, compara y decide si se requiere una amplificación o no. El módulo (31) es un módulo integrador y el (32) es un modulador de amplitud de pulsos PWM, los cuales en conjunto forman un DAC, diferente al que previamente se habla mencionado; la ventaja es que el DAC guarda características esenciales que permiten se decodifique la señal en los tiempos específicos; el (33) es un amplificador digital y el (35) es el circuito de carga de baterías del emisor. Figure 6 shows the use and communication of the microcontroller modules (16) of the transmitter (5); these modules being the radio of the emitter (8), which has the communication module (26) type SPI, which allows the radio (8) to communicate with the microcontroller (16), through the microcontroller analog to digital converter (27), which changes the signals from analog to digital. The interrupt module (28) is a module that works through interrupts, it is the one that indicates which signal has priority, in case it receives a signal in the middle of a decoding, the signal cannot be attended until the decoding is finished in progress. The module (29) is a timer module that receives the external signals and compares them with an internal table/ once the time is recorded, which is the personalized time for each patient, through the timer module (29), the values are compared. and the commands can be executed; the memory module (30) houses the recorded commands, which can be modified based on the needs of the patient, being possible to customize it for each patient; additionally, the memory module (30) also stores information related to the environment, such as distances, obstacles, etc. The comparator (21), in case of receiving small signals, compares and decides if an amplification is required or not. The module (31) is an integrating module and the (32) is a PWM pulse width modulator, which together form a DAC, different from the one previously mentioned; The advantage is that the DAC keeps essential characteristics that allow the signal to be decoded at specific times; (33) is a digital amplifier and (35) is the emitter battery charging circuit.
Continuando con la figura 6, el microcontrolador (5) cuenta además con un módulo UART (34) que se encarga de controlar los puertos y dispositivos en serie. Continuing with figure 6, the microcontroller (5) also has a UART module (34) that is responsible for controlling the serial ports and devices.
La figura 7 muestra los elementos mínimos necesarios en el receptor (7) para funcionar adecuadamente en comunicación con el emisor (5), dicho receptor estarla colocado en la canasta o en el objeto a controlar (40). El receptor cuenta con un radio (9) para recibir señales del emisor (5) y comunicar comandos al objeto a controlar (40). Cuenta con un módulo decodificador y comparador de comandos (41), por si existiera algún problema de comunicación, los comandos también se encuentran grabados en el módulo comparador y decodificador de comandos (41); adicionalmente, para cada emisor (5), se puede tener un número variable de receptores (7), dependiendo de la cantidad de objetos (40) a controlar y por lo tanto, los códigos para un interruptor de luz, no serán los mismos que para un vehículo portador de objetos o una televisión; adicionalmente, el receptor cuenta con un módulo de ejecución de comandos (42) que recibe la instrucción y ejecuta el comando dependiendo del objeto a controlar (40), ya que los códigos varían dependiendo del objeto, no serán interpretados de igual forma si se trata de un ventilador o un interruptor de corriente. EL receptor (7) también cuenta con un módulo de sensores (43) que censan todo el tiempo condiciones del entorno, para el caso de un vehículo, podrían ser sensores de proximidad, obstáculos, presencia, características del suelo, etc., dicho módulo de sensores está asociado a un módulo de inteligencia artificial (44) que "aprende" y realiza ajustes para que el objeto a controlar (40) pueda tener cierta autonomía; el receptor (7) cuenta además con un circuito de carga de baterías del receptor (45) que le permite un funcionamiento de 18 horas continuas con un uso mínimo. El objeto a controlar puede ser cualquier objeto que pueda ser controlado mediante circuitos electrónicos lógicos, tales como un ventilador, un interruptor, un vehículo, un televisor, etc. Figure 7 shows the minimum elements necessary in the receiver (7) to function properly in communication with the transmitter (5), said receiver would be placed in the basket or in the object to be controlled (40). The receiver counts with a radio (9) to receive signals from the transmitter (5) and communicate commands to the object to be controlled (40). It has a command decoder and comparator module (41), in case there is any communication problem, the commands are also recorded in the command comparator and decoder module (41); additionally, for each emitter (5), you can have a variable number of receivers (7), depending on the number of objects (40) to control and therefore, the codes for a light switch will not be the same as for a vehicle carrying objects or a television; additionally, the receiver has a command execution module (42) that receives the instruction and executes the command depending on the object to be controlled (40), since the codes vary depending on the object, they will not be interpreted in the same way if they are from a fan or a power switch. The receiver (7) also has a sensor module (43) that continuously records environmental conditions, in the case of a vehicle, it could be proximity sensors, obstacles, presence, ground characteristics, etc., said module of sensors is associated with an artificial intelligence module (44) that "learns" and makes adjustments so that the object to be controlled (40) can have a certain autonomy; the receiver (7) also has a receiver battery charging circuit (45) that allows continuous operation of 18 hours with minimal use. The object to be controlled can be any object that can be controlled by electronic logic circuits, such as a fan, a switch, a vehicle, a television, etc.
La figura 8, al igual que en el emisor (5), el receptor (7) cuenta con puntos de prueba asociados al microprocesador (16), que permiten monitorear las señales que están transitando y por lo tanto, se tienen señales equivalentes a las del emisor (5), de tal forma que se tiene una conexión con el convertidor analógico digital (21), con el selector de nivel de referencia (17), con el selector de ganancia (22) y la señal EOG amplificada (24). Figure 8, as in the transmitter (5), the receiver (7) has test points associated with the microprocessor (16), which allow monitoring the signals that are transiting and therefore, there are signals equivalent to those of the emitter (5), in such a way that there is a connection with the digital analog converter (21), with the reference level selector (17), with the selector of gain (22) and the amplified EOG signal (24).
MODO DE REALIZACIÓN DE LA INVENCIÓN MODE OF EMBODIMENT OF THE INVENTION
Para el presente ejemplo, la figura 9, muestra que la invención está compuesta por el dispositivo de adquisición y transmisión de señales EOG (1) y un vehículo de orugas (51) que soporta una canasta (52), que cuenta con un par de soportes (53) preferentemente metálicos, en donde se colocan los objetos a mover que requiere el usuario, y al menos un par de arneses (54) que mejoran el soporte de la canasta (52). Continuando con las figuras 9, 10 y 11, el vehículo de orugas (51), se mueve por medio de un par de orugas (55) colocadas en paralelo, propulsadas por dos ruedas motrices (56) accionadas cada una por un par motores (57) asociado uno a cada rueda motriz (56) y dos ruedas de giro libre (58), de tal forma que permiten un movimiento síncrono, asincrono u opuesto, confiriendo movilidad y maniobrabilidad al vehículo de orugas (51). For the present example, Figure 9 shows that the invention is made up of the EOG signal acquisition and transmission device (1) and a tracked vehicle (51) that supports a basket (52), which has a pair of supports (53) preferably metallic, where the objects to be moved that the user requires are placed, and at least one pair of harnesses (54) that improve the support of the basket (52). Continuing with figures 9, 10 and 11, the tracked vehicle (51) moves by means of a pair of tracks (55) placed in parallel, propelled by two drive wheels (56) each driven by a pair of motors ( 57) associated one to each driving wheel (56) and two free turning wheels (58), in such a way that they allow a synchronous, asynchronous or opposite movement, conferring mobility and maneuverability to the tracked vehicle (51).
Para que el vehículo de orugas (51) responda a las necesidades del usuario, se ha generado una código de señales EOG, que son captadas por el dispositivo de adquisición y transmisión de señales EOG (1) y en viadas al emisor (5) que procesa las señales analógicas, las convierte en señales digitales y las comunica al receptor (7) ubicado en el vehículo de orugas (51); el receptor (7) decodifica las señales y las convierte en comandos u órdenes para el desplazamiento del vehículo de orugas, de acuerdo con el código de la tabla 1, en donde la distancia "A", es un valor personalizó le para cada usuario, es una medida proporcional a la distancia más larga entre el objeto y el usuario, es decir, la distancia más larga en la habitación se divide entre 6 y éste valor se le asigna a la variable "A", de tal forma que la habitación mide 6A y por lo tanto, la distancia "A" se trabaja con múltiplos, donde la máxima distancia a recorrer son 5A que se encuentra en el último comando de la tabla.
Figure imgf000015_0001
In order for the tracked vehicle (51) to respond to the user's needs, a code of EOG signals has been generated, which are captured by the EOG signal acquisition and transmission device (1) and sent to the transmitter (5) which processes the analog signals, converts them into digital signals and communicates them to the receiver (7) located on the tracked vehicle (51); the receiver (7) decodes the signals and converts them into commands or orders for the movement of the tracked vehicle, according to the code in table 1, where the distance "A", is a personalized value for each user, it is a measure proportional to the longest distance between the object and the user, that is, the longest distance in the room is divided by 6 and this value is assigned to the variable "A", in such a way that the room measures 6A and therefore, the distance "A" is worked with multiples, where the maximum distance to travel is 5A, which is found in the last command of the table.
Figure imgf000015_0001
Tabla 1; Descripción de los principales comandos inteligentes con base al tiempo de espera te y las distancias A. Table 1; Description of the main intelligent commands based on waiting time and distances A.
La figura 12 muestra mediante un diagrama de flujo, el proceso lógico de funcionamiento para el ejemplo descrito previamente, en donde primero se requiere la personalización del tiempo te (60) para cada paciente, el cual corresponde al espacio de tiempo entre dos guiftos voluntarios; una vez personalizado el tiempo te, el emisor (5) es capaz de reconocer si un movimiento ocular corresponde a una señal de tipo comando. Cuando el dispositivo de adquisición y transmisión de señales EOG (1) detecta un movimiento, debe realizar una discriminación de tiempo (61), para validar si ese movimiento corresponde a una señal EOG, en caso EOG negativo (62), el dispositivo regresa a hibernar (63) para ahorrar de energía; en caso de EOG afirmativo (64), la señal EOG es adquirida (65) y se realiza el ajuste de ganancia (66) y el ajuste de nivel (67); una vez realizados los ajustes, se realiza la validación (68), para verificar si la señal corresponde o no a un comando, en caso negativo, la señal corresponde a un no comando (69) y por lo tanto, se trata de un movimiento natural del ojo, y el dispositivo regresa a hibernar (63), en caso afirmativo, se trata de un comando (70), el emisor comunica el comando al receptor (7) , y éste a su vez realiza la interacción con los sensores (71) para obtener información del entorno y acciona los actuadores (72) para el desplazamiento del vehículo de orugas (51), ejecuta el comando (73) y adquiere retroalimentación del módulo de inteligencia artificial (44). Una vez ejecutada la instrucción, regresa a hibernar (63). El invento ha sido descrito suficientemente como para que una persona con conocimientos medios en la materia pueda reproducir y obtener los resultados que mencionamos en la presente invención. Sin embargo, cualquier persona hábil en el campo de la técnica que compete el presente invento puede ser capaz de hacer modificaciones no descritas en la presente solicitud, sin embargo, si para la aplicación de estas modificaciones en una estructura determinada o en el proceso de manufactura de este, se requiere de la materia reclamada en las siguientes reivindicaciones, dichas estructuras deberán ser comprendidas dentro del alcance de la invención. Figure 12 shows, by means of a flow chart, the logical operating process for the previously described example, where the personalization of the time te (60) for each patient is first required, which corresponds to the space of time between two voluntary turns; once the time te has been customized, the emitter (5) is able to recognize if an eye movement corresponds to a command-type signal. When the EOG signal acquisition and transmission device (1) detects a movement, it must perform a discrimination of time (61), to validate if this movement corresponds to an EOG signal, in case of a negative EOG (62), the device returns to hibernate (63) to save energy; in case of affirmative EOG (64), the EOG signal is acquired (65) and gain adjustment (66) and level adjustment (67) are performed; once the adjustments have been made, the validation (68) is carried out, to verify whether or not the signal corresponds to a command, if not, the signal corresponds to a non-command (69) and therefore, it is a movement of the eye, and the device returns to hibernate (63), if so, it is a command (70), the emitter communicates the command to the receiver (7), and this in turn performs the interaction with the sensors ( 71) to obtain information about the environment and activates the actuators (72) for the movement of the tracked vehicle (51), executes the command (73) and acquires feedback from the artificial intelligence module (44). Once the instruction is executed, it returns to hibernate (63). The invention has been sufficiently described so that a person with average knowledge in the matter can reproduce and obtain the results that we mention in the present invention. However, any skilled person in the field of technology that is the subject of the present invention may be able to make modifications not described in this application, however, if for the application of these modifications in a given structure or in the manufacturing process of this, the matter claimed in the following claims is required, said structures should be included within the scope of the invention.

Claims

REIVINDICATIONES
1.Un sistema de control remoto de objetos, aparatos o equipos mediante señales EOG, que se compone de un dispositivo de adquisición y transmisión de señales EOG (1) asociado a un emisor (5), para controlar un objeto a distancia por medio de un código de señales electrooculográficas (EOG), en comunicación con un receptor (7) colocado en el objeto a controlar, caracterizado porque, el dispositivo de adquisición y transmisión de señales (1) cuenta con un electrodo de adquisición de señal positiva (2), un electrodo de adquisición de señal negativa (3) y un electrodo de referencia (4), que comunican las señales EOG al emisor (5) que cuenta con un microcontrolador (16) y medios para adquirir las señales, filtrarlas, amplificarias codificarlas y transmitirlas a un receptor (7) ubicado en el objeto a controlar; el cual a su vez cuenta con los medios para adquirir las señales digitales, decodificarlas, comparar la señal codificada con un código almacenado en una memoria (30) del receptor (7), convertir las señales digitales a señales analógicas y ejecutar los comandos recibidos, sobre el objeto a controlar. 1. A remote control system for objects, devices or equipment using EOG signals, which is made up of an EOG signal acquisition and transmission device (1) associated with a transmitter (5), to control an object from a distance by means of an electrooculographic (EOG) signal code, in communication with a receiver (7) placed on the object to be controlled, characterized in that the signal acquisition and transmission device (1) has a positive signal acquisition electrode (2) , a negative signal acquisition electrode (3) and a reference electrode (4), which communicate the EOG signals to the emitter (5) which has a microcontroller (16) and means to acquire the signals, filter them, amplify them, encode them and transmitting them to a receiver (7) located in the object to be controlled; which in turn has the means to acquire the digital signals, decode them, compare the encoded signal with a code stored in a memory (30) of the receiver (7), convert the digital signals to analog signals and execute the received commands, on the object to control.
2. El sistema de control remoto de objetos, aparatos o equipos mediante señales EOG de la reivindicación 1; caracterizado porque tanto el dispositivo de adquisición y transmisión de señales EOG (1) asociado al emisor (5), como el receptor (7) colocado en el objeto a controlar, cuentan con energía autónoma suministrada por un circuito de carga de baterías y baterías recargables. 2. The remote control system of objects, devices or equipment using EOG signals of claim 1; characterized in that both the EOG signal acquisition and transmission device (1) associated with the transmitter (5), and the receiver (7) placed on the object to be controlled, have autonomous power supplied by a battery charging circuit and rechargeable batteries .
3.El sistema de control remoto de objetos, aparatos o equipos mediante señales EOG, caracterizado porque el receptor puede ser utilizado para controlar un vehículo, interruptores, aparatos eléctricos tales como ventiladores, aire acondicionado, televisores y cualquier otro que pueda ejecutar comandos mediante circuitos lógicos. 3.The remote control system of objects, appliances or equipment using EOG signals, characterized in that the receiver can be used to control a vehicle, switches, electrical appliances such as fans, air conditioning, televisions and any other that can execute commands through circuits logical.
4.El sistema de control remoto de objetos, aparatos o equipos mediante señales EOG de la reivindicación 1, caracterizado porque el dispositivo de adquisición y transmisión de seflales EOG (1) distingue una señal EOG de un movimiento natural del usuario. 4. The remote control system for objects, devices or equipment using EOG signals of claim 1, characterized in that the EOG signal acquisition and transmission device (1) distinguishes an EOG signal from a natural movement of the user.
5.El sistema de control remoto de objetos, aparatos o equipos mediante señales EOG de la reivindicación 1, caracterizado por que los comandos pueden ser codificados y decodificados para ser transmitidos por tecnología Wireless, bluetooth, wifi, internet, RF, infrarroja o satelital. 5. The remote control system of objects, devices or equipment using EOG signals of claim 1, characterized in that the commands can be encoded and decoded to be transmitted by Wireless, bluetooth, Wi-Fi, internet, RF, infrared or satellite technology.
6.El sistema de control remoto de objetos, aparatos o equipos mediante señales EOG de la reivindicación 5, caracterizado por que el objeto a controlar puede encontrarse en cualquier ubicación donde reciba alguna de las seflales transmitidas por Wireless, bluetooth, wifi, internet, RF, infrarroja o satelital. 6. The remote control system of objects, devices or equipment using EOG signals of claim 5, characterized in that the object to be controlled can be found in any location where it receives any of the signals transmitted by Wireless, bluetooth, wifi, internet, RF , infrared or satellite.
7.Un vehículo portador de objetos para ser controlado por un sistema de control remoto de objetos, aparatos o equipos mediante señales EOG, con un receptáculo para transportar objetos y un sistema motriz, caracterizado porque cuenta con un receptor (7) de señales, medios para adquirir las señales digitales, decodificarlas, comparar las seflales decodificadas con un código almacenado en una memoria (30), del receptor (7), convertir las señales digitales a señales analógicas y convertir las señales analógicas en comandos de movimiento del vehículo. 7. A vehicle carrying objects to be controlled by a remote control system for objects, devices or equipment using EOG signals, with a receptacle for transporting objects and a motor system, characterized in that it has a receiver (7) of signals, means to acquire the digital signals, decode them, compare the decoded signals with a code stored in a memory (30), of the receiver (7), convert the digital signals to analog signals and convert the analog signals into vehicle movement commands.
8.Un código de comandos a partir de señales EOG para un sistema de control remoto de objetos, aparatos o equipos mediante señales EOG caracterizado porque combina guiños, tiempos y distancias personalizados para cada usuario, con movimientos oculares sencillos o en serie a la derecha, a la izquierda, hacia arriba, hacia abajo, para generar acciones especificas en un objeto a controlar de forma remota. 8.A code of commands from EOG signals for a remote control system of objects, devices or equipment using EOG signals characterized in that it combines winks, times and distances personalized for each user, with simple or serial eye movements to the right, to the left, up, down, to generate specific actions on an object to be controlled remotely.
9.El código de comandos de la reivindicación 8, caracterizado por que la distancia es personalizada como una variable "A" que es proporcional a la distancia total del espacio físico en donde se encuentre el usuario. 9. The command code of claim 8, characterized in that the distance is customized as a variable "A" that is proportional to the total distance of the physical space where the user is.
10. El código de comandos de la reivindicación 8, caracterizado pro que la distancia "A" es un sexto de la distancia entre el usuario y el objeto más lejano del entorno. 10. The command code of claim 8, characterized in that the distance "A" is one sixth of the distance between the user and the furthest object in the environment.
11. El código de comandos de la reivindicación 6, caracterizado por que los comandos pueden ser codificados y decodificados para ser transmitidos por tecnología Wireless, bluetooth, wifi, internet, RF, infrarroja o satelital. 11. The command code of claim 6, characterized in that the commands can be encrypted and decrypted to be transmitted by wireless, bluetooth, wifi, internet, RF, infrared or satellite technology.
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