CN105616082A - Intelligent-wheelchair control device with single facial surface electromyogram signal and method - Google Patents
Intelligent-wheelchair control device with single facial surface electromyogram signal and method Download PDFInfo
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- CN105616082A CN105616082A CN201510989597.1A CN201510989597A CN105616082A CN 105616082 A CN105616082 A CN 105616082A CN 201510989597 A CN201510989597 A CN 201510989597A CN 105616082 A CN105616082 A CN 105616082A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61B5/389—Electromyography [EMG]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/18—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering by patient's head, eyes, facial muscles or voice
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- Animal Behavior & Ethology (AREA)
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- Heart & Thoracic Surgery (AREA)
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- Chair Legs, Seat Parts, And Backrests (AREA)
Abstract
The invention discloses an intelligent-wheelchair control device with a single facial surface electromyogram signal and a method, and relates to the technical field of intelligent wheelchairs, in particular to a device and method for controlling an intelligent wheelchair. The device comprises a main control module, and a facial-surface-electromyogram-signal extracting module and an action-command circulation display module are connected to the main control module; the facial-surface-electromyogram-signal extracting module is used for detecting the single facial surface electromyogram signal of a user and providing a control acknowledgement signal or a stop signal for an action command to be output by the main control module; the action-command circulation display module is used for circularly displaying the action command to be acknowledged to be output by the main control module. The intelligent wheelchair can be controlled through the single facial surface electromyogram signal, errors generated when various facial surface electromyogram signals are extracted are avoided, the accuracy rate of control is increased, and the actual use requirement for the intelligent wheelchair can be met.
Description
Technical field
The present invention relates to intelligent wheel chair technical field, be specifically related to control device and the control method aspect of intelligent wheel chair.
Background technology
Intelligent wheel chair has been studied by current many countries, for different group of handicapped, develops multiple intelligent wheel chair man-machine interface. Relatively light for those disabled degree, limbs motility is higher and realizes good crowd, stick control can be adopted, by modes such as key control, steering wheel control, touch screen control, Voice command, but these control modes still can not meet crowd's needs that limbs motility is relatively low; Therefore, the accessible man-machine interaction mode research based on facial surface electromyographic signal (SEMG) necessitates.
When adopting kinds of surface electromyographic signal to send the different instructions such as " advance " to intelligent wheel chair, " stopping ", " left-hand rotation ", " right-hand rotation " traditionally, user needs to make different facial expressions, the difficulty controlled is big, comfort level is low, and owing to the precision of the extraction of current facial surface electromyographic signal is inadequate, electromyographic signal produced by different facial expressions may be obscured, and the precision therefore controlled is poor, is extremely difficult to actually used requirement.
Summary of the invention
In sum, it is an object of the invention to solve the existing intelligent wheel chair being controlled according to different facial expressions and there is low precision, control the technical deficiency that processing ease causes confusion, and propose a kind of intelligent wheel chair adopting single facial surface electromyographic signal and control device and method.
For solving technical problem proposed by the invention, the technical scheme adopted is: 1, adopt the intelligent wheel chair of single facial surface electromyographic signal to control device, it is characterized in that described device includes main control module, main control module is connected to facial surface electromyographic signal extraction module and action command circularly exhibiting module;
Facial surface electromyographic signal extraction module, for detecting the facial surface electromyographic signal that user is single, the action command being about to output for main control module provides control confirmation signal or stop signal;
Action command circularly exhibiting module, namely will confirm that the action command of output for circularly exhibiting main control module.
The action command of described main control module output at least includes advancement commands, left-hand rotation instruction, right-hand rotation instruction and halt instruction; Action command circularly exhibiting module includes corresponding with advancement commands, left-hand rotation instruction, right-hand rotation instruction respectively advance display lamp, left-hand rotation display lamp and right-hand rotation display lamp.
The action command of described main control module output at least includes advancement commands, left-hand rotation instruction, right-hand rotation instruction and halt instruction; Action command circularly exhibiting module is the display module for showing advancement commands, left-hand rotation instruction or right-hand rotation instruction.
Described action command circularly exhibiting module also includes the voice cue module being synchronously performed corresponding voice broadcast with the display lamp that advances, left-hand rotation display lamp and right-hand rotation display lamp.
Described facial surface electromyographic signal extraction module is the facial surface electromyographic signal extraction module for extracting face eyebrow corresponding position action.
The described intelligent wheel chair adopting single facial surface electromyographic signal controls the control method of device, it is characterised in that described method is to preset to wait action command acknowledgement state and running status in main control module;
Waiting under action command acknowledgement state, namely main control module be will confirm that each action command of output circularly exhibiting one by one successively by action command circularly exhibiting module; In displaying process, when after face surface electromyogram signal extraction module detection user facial surface electromyographic signal, facial surface electromyographic signal extraction module provides to main control module and controls confirmation signal, main control module is according to the action command controlling confirmation signal confirmation of synchronization action command circularly exhibiting module current presentation, afterwards further according to determining that the action command recognized starts execution wheelchair and runs control, main control module is from waiting that action command acknowledgement state transfers running status to simultaneously;
Under operation, when after face surface electromyogram signal extraction module detection user facial surface electromyographic signal, facial surface electromyographic signal extraction module provides to main control module and stops control signal, and master control module controls wheelchair runs and stops, and returns to waiting for action command acknowledgement state.
Described facial surface electromyographic signal extraction module detection face eyebrow corresponding position action; Under waiting action command acknowledgement state, detect when face eyebrow corresponding part has action to occur, provide for main control module and control confirmation signal; Under operation, detect when face eyebrow corresponding part has action to occur, provide for main control module and stop control signal.
The invention have the benefit that electromyographic signal produced by different facial expressions need not be made a distinction identification by the present invention, facial surface electromyographic signal extraction module has only to action command circularly exhibiting Module cycle is shown and namely will confirm that the action command of output confirms, thus performing the corresponding of intelligent wheel chair for main control module to run manipulation offer foundation, in intelligent wheel chair running, when facial surface electromyographic signal extraction module detects facial surface electromyographic signal again, out of service immediately; The present invention adopts single facial surface electromyographic signal just can complete the manipulation to intelligent wheel chair, it is to avoid error when multiple facial surface electromyographic signal is extracted, and improves precise control rate, can meet the actually used demand to intelligent wheel chair.
Accompanying drawing explanation
Fig. 1 is that the present invention adopts the intelligent wheel chair of single facial surface electromyographic signal to control the structural principle block diagram of device.
Fig. 2 is the workflow diagram of the method for controlling intelligent wheelchair adopting single facial surface electromyographic signal of the present invention.
Detailed description of the invention
With reference to shown in Fig. 1, the intelligent wheel chair adopting single facial surface electromyographic signal of the present invention controls device, includes main control module, facial surface electromyographic signal extraction module and action command these three parts of circularly exhibiting module; Facial surface electromyographic signal extraction module and action command circularly exhibiting module are connected with main control module respectively.
Main control module is mainly used in facial surface electromyographic signal extraction module and the signal processing of action command circularly exhibiting module, the final motor drive circuit controlling intelligent wheel chair, it is achieved the operation of intelligent wheel chair is controlled.
Facial surface electromyographic signal extraction module, for detecting the facial surface electromyographic signal that user is single, the action command being about to output for main control module provides control confirmation signal or stop signal; It is preferably the facial surface electromyographic signal extraction module adopted for extracting face eyebrow corresponding position action. That is to say when main control module is in wait action command acknowledgement state, when face eyebrow corresponding position carries out action, provide for main control module and control confirmation signal; And when main control module is in running status, when face eyebrow corresponding position carries out action, provide letter stop signal for main control module.
Action command circularly exhibiting module, namely will confirm that the action command of output for circularly exhibiting main control module. Action command circularly exhibiting module can be display module, LED light, voice cue module, or the combination of voice cue module and display module or LED light. The action command of main control module output has generally comprised advancement commands, left-hand rotation instruction, right-hand rotation instruction and halt instruction, can also have retrogressing instruction as required.
Described display module comprises LED lattice display module and liquid crystal display screen display module, as long as the display module of arrow logo can be shown, such as: on display module, circulation shows forward directional arrow, to the left arrow, right-hand arrow successively, represent and ask the user whether to assign advancement commands, left-hand rotation instruction, right-hand rotation instruction; When display module is shown as forward directional arrow, facial surface electromyographic signal extraction module detects user's face eyebrow corresponding position generation action, create facial surface electromyographic signal, it is to assign advancement commands that main control module then thinks that user confirms, and main control module output advancement commands controls intelligent wheel chair and advances; In advance process, facial surface electromyographic signal extraction module detects that user's face eyebrow corresponding position produces again action, create again facial surface electromyographic signal, main control module then thinks that user need to assign halt instruction, main control module output halt instruction controls intelligent wheel chair and halts, display module starts again at circulation display forward directional arrow, to the left arrow, right-hand arrow successively, again waits for user and confirm, so circulate.
Adopting LED light circularly exhibiting main control module namely to will confirm that the action command of output, working method is essentially identical with above-mentioned display module, the corresponding different instruction of each LED light, replaces above-mentioned arrow and shows; For example with advance display lamp, left-hand rotation display lamp and right-hand rotation display lamp corresponding advancement commands, left-hand rotation instruction, right-hand rotation instruction respectively.
Namely voice cue module can will confirm that the action command of output by unique display main control module, it is also possible to is shown main control module in conjunction with display module or LED light and namely will confirm that the action command of output.
With reference to shown in Fig. 2, the present invention adopts the control method that the intelligent wheel chair of single facial surface electromyographic signal controls device to be preset to wait action command acknowledgement state and running status in main control module.
Waiting under action command acknowledgement state, namely main control module be will confirm that each action command of output circularly exhibiting one by one successively by action command circularly exhibiting module; For example with circulating display forward directional arrow, to the left arrow, right-hand arrow successively, during display forward directional arrow, namely main control module will confirm that the action command of output is advancement commands; In displaying process, when after face surface electromyogram signal extraction module detection user facial surface electromyographic signal, facial surface electromyographic signal extraction module provides to main control module and controls confirmation signal, and main control module is according to the action command controlling confirmation signal confirmation of synchronization action command circularly exhibiting module current presentation; Such as: when display module is shown as forward directional arrow, facial surface electromyographic signal extraction module detects user's face eyebrow corresponding position generation action, create facial surface electromyographic signal, this facial surface electromyographic signal is control confirmation signal, and it is to assign advancement commands that main control module then thinks that user confirms; Performing wheelchair operation control further according to determining that the action command recognized starts, main control module is from waiting that action command acknowledgement state transfers running status to simultaneously.
Under operation, when after face surface electromyogram signal extraction module detection user facial surface electromyographic signal, facial surface electromyographic signal extraction module provides to main control module and stops control signal, and master control module controls wheelchair runs and stops, and returns to waiting for action command acknowledgement state. Such as: facial surface electromyographic signal extraction module detects when face eyebrow corresponding part has action to occur, the facial surface electromyographic signal that facial surface electromyographic signal extraction module provides for main control module, this facial surface electromyographic signal is stopping control signal, thus stop intelligent wheel chair moving on operation, left turn maneuver or turn right run, return to wait action command acknowledgement state.
In specific implementation process, stopping after such as controlling intelligent wheel chair advance 10 meters after left-hand rotation 10 meters, operational approach is: when 1, being shown as forward directional arrow in wait action command circularly exhibiting module, lifting eyebrow, intelligent wheel chair starts advance and runs; 2, after intelligent wheel chair travels 10 meters, then lifting eyebrow, intelligent wheel chair is out of service; 3, wait action command circularly exhibiting module is shown as to the left arrow time, lift eyebrow, intelligent wheel chair starts left turn maneuver; 4, after waiting that left turn maneuver puts in place, lifting eyebrow, intelligent wheel chair is out of service; When 5, again waiting for being shown as forward directional arrow in action command circularly exhibiting module, lifting eyebrow, intelligent wheel chair starts to advance and runs; 6, after intelligent wheel chair travels 10 meters, then lifting eyebrow, intelligent wheel chair is out of service.
In specific implementation process, facial surface electromyographic signal extraction module can also be passed through and gather the single facial surface electromyographic signal at other position beyond face eyebrow, avoid error when multiple facial surface electromyographic signal is extracted, improve precise control rate, the actually used demand to intelligent wheel chair can be met.
Claims (7)
1. the intelligent wheel chair adopting single facial surface electromyographic signal controls device, it is characterised in that described device includes main control module, and main control module is connected to facial surface electromyographic signal extraction module and action command circularly exhibiting module;
Facial surface electromyographic signal extraction module, for detecting the facial surface electromyographic signal that user is single, the action command being about to output for main control module provides control confirmation signal or stop signal;
Action command circularly exhibiting module, namely will confirm that the action command of output for circularly exhibiting main control module.
2. the intelligent wheel chair of the single facial surface electromyographic signal of employing according to claim 1 controls device, it is characterised in that: the action command of described main control module output at least includes advancement commands, left-hand rotation instruction, right-hand rotation instruction and halt instruction; Action command circularly exhibiting module includes corresponding with advancement commands, left-hand rotation instruction, right-hand rotation instruction respectively advance display lamp, left-hand rotation display lamp and right-hand rotation display lamp.
3. the intelligent wheel chair of the single facial surface electromyographic signal of employing according to claim 1 controls device, it is characterised in that: the action command of described main control module output at least includes advancement commands, left-hand rotation instruction, right-hand rotation instruction and halt instruction; Action command circularly exhibiting module is the display module for showing advancement commands, left-hand rotation instruction or right-hand rotation instruction.
4. the intelligent wheel chair adopting single facial surface electromyographic signal according to Claims 2 or 3 controls device, it is characterised in that: described action command circularly exhibiting module also includes the voice cue module being synchronously performed corresponding voice broadcast with the display lamp that advances, left-hand rotation display lamp and right-hand rotation display lamp.
5. the intelligent wheel chair of the single facial surface electromyographic signal of employing according to claim 1 controls device, it is characterised in that: described facial surface electromyographic signal extraction module is the facial surface electromyographic signal extraction module for extracting face eyebrow corresponding position action.
6. the intelligent wheel chair adopting single facial surface electromyographic signal as described in any one of claim 1 to 5 controls the control method of device, it is characterised in that described method is to preset to wait action command acknowledgement state and running status in main control module;
Waiting under action command acknowledgement state, namely main control module be will confirm that each action command of output circularly exhibiting one by one successively by action command circularly exhibiting module; In displaying process, when after face surface electromyogram signal extraction module detection user facial surface electromyographic signal, facial surface electromyographic signal extraction module provides to main control module and controls confirmation signal, main control module is according to the action command controlling confirmation signal confirmation of synchronization action command circularly exhibiting module current presentation, afterwards further according to determining that the action command recognized starts execution wheelchair and runs control, main control module is from waiting that action command acknowledgement state transfers running status to simultaneously;
Under operation, when after face surface electromyogram signal extraction module detection user facial surface electromyographic signal, facial surface electromyographic signal extraction module provides to main control module and stops control signal, and master control module controls wheelchair runs and stops, and returns to waiting for action command acknowledgement state.
7. the intelligent wheel chair of the single facial surface electromyographic signal of employing according to claim 6 controls the control method of device, it is characterised in that: described facial surface electromyographic signal extraction module detection face eyebrow corresponding position action; Under waiting action command acknowledgement state, detect when face eyebrow corresponding part has action to occur, provide for main control module and control confirmation signal; Under operation, detect when face eyebrow corresponding part has action to occur, provide for main control module and stop control signal.
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| CN201510989597.1A CN105616082A (en) | 2015-12-28 | 2015-12-28 | Intelligent-wheelchair control device with single facial surface electromyogram signal and method |
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| CN201510989597.1A CN105616082A (en) | 2015-12-28 | 2015-12-28 | Intelligent-wheelchair control device with single facial surface electromyogram signal and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109079814A (en) * | 2018-08-14 | 2018-12-25 | 上海常仁信息科技有限公司 | Realize the healthy robot of emotion communication |
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Application publication date: 20160601 |