CN205721637U - Walking-replacing tool system - Google Patents
Walking-replacing tool system Download PDFInfo
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- CN205721637U CN205721637U CN201620547992.4U CN201620547992U CN205721637U CN 205721637 U CN205721637 U CN 205721637U CN 201620547992 U CN201620547992 U CN 201620547992U CN 205721637 U CN205721637 U CN 205721637U
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Abstract
The utility model discloses a kind of walking-replacing tool system, relate to control field, it is possible to without using the action of the body parts such as lower limb, arm or hands can walking-replacing tool be operated, solve the existing walking-replacing tool problem for limbs inconvenience personage's operating difficulties.Of the present utility model including: walking-replacing tool and walking-replacing tool control device, described walking-replacing tool includes directional wheel, drives driving motor and controlling the motor driver of described driving motor of described directional wheel；Described walking-replacing tool controls device and includes: for shooting the photographic head of the eyes image of user；The processor being connected with described photographic head, described processor receives the eyes image of described photographic head shooting, and generating the corresponding action command for controlling walking-replacing tool motion according to the eye motion in described eyes image, the action command outfan of described processor is also connected with described motor driver.
Description
Technical field
This utility model relates to control field, particularly relates to a kind of walking-replacing tool system.
Background technology
Existing wheelchair, user typically requires and promotes with hands or foot, or uses driven by power and by pressing keys
Method is controlled, and this is relatively difficult for the personage of limbs inconvenience, the most gradually freezes disease patient, both cannot use hands
Foot, also cannot sounding, existing wheelchair cannot be used at all.Therefore, one it is badly in need of at present without using the body such as lower limb, arm or hands
The action of position can carry out the wheelchair operated.
Utility model content
This utility model provides a kind of walking-replacing tool system, it is not necessary to use the action of the body parts such as lower limb, arm or hands
Operate, solve the existing walking-replacing tool problem for limbs inconvenience personage's operating difficulties.
For reaching above-mentioned purpose, embodiment of the present utility model adopts the following technical scheme that
Embodiment of the present utility model provides a kind of walking-replacing tool system, including: walking-replacing tool and walking-replacing tool control dress
Putting, described walking-replacing tool includes directional wheel, drives driving motor and controlling described driving motor of described directional wheel
Motor driver；Described walking-replacing tool controls device and includes: for shooting the photographic head of the eyes image of user；Take the photograph with described
The processor being connected as head, described processor receives the eyes image of described photographic head shooting, and according in described eyes image
Eye motion generate the corresponding action command for controlling walking-replacing tool motion, the action command outfan of described processor
Also it is connected with described motor driver.
Alternatively, also including: glasses, described photographic head is integrated on described glasses.
Preferably, described photographic head is integrated on the eyeglass of described glasses.
Further, described walking-replacing tool system, also include: for the eyes image that described photographic head shoots is sent to
The communication module of described processor.
Preferably, described communication module is bluetooth.
Described walking-replacing tool system, also includes: for pointing out whether user performs the action that described eye motion is corresponding
The voice cue module of instruction, is connected with described processor.
Alternatively, the eye motion of described user includes: nictation and to the left, to the right, upwards, look down.
Preferably, described directional wheel is Mecanum wheel.
Described walking-replacing tool system, also includes: stop button, for receiving the halt instruction by force of input；Security control
Plate, is connected with described stop button and described motor driver, for when halt instruction by force described in receiving, to described electricity
Machine driver sends the instruction closing described driving motor.
Alternatively, described walking-replacing tool system is wheelchair system.
This utility model provides a kind of walking-replacing tool system, and described walking-replacing tool controls device and includes photographic head and process
Device, walking-replacing tool includes directional wheel, drives driving motor and controlling to drive the motor driver of motor of directional wheel, logical
Crossing the eyes image of photographic head shooting user, processor receives the eyes image of photographic head shooting, and according in eyes image
Eye motion generate the corresponding action command for controlling walking-replacing tool motion, the action command outfan of processor also with
Motor driver is connected, and action command passes to motor driver, it is achieved the control to walking-replacing tool operates, and the most finally can realize
Operation walking-replacing tool is controlled, it is not necessary to use the action of the body parts such as lower limb, arm or hands, solve existing work of riding instead of walk by eye motion
Has the problem for limbs inconvenience personage's operating difficulties.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in this utility model embodiment, will make required in embodiment below
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only embodiments more of the present utility model,
For those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings
Other accompanying drawing.
Fig. 1 controls the structured flowchart of device for a kind of walking-replacing tool that this utility model embodiment one provides；
Fig. 2 is Glasses structure schematic diagram in this utility model embodiment one；
The walking-replacing tool that Fig. 3 provides for the first embodiment in this utility model embodiment one controls apparatus structure frame
Figure；
Fig. 4 is the eye motion schematic diagram during user look straight ahead shot in advance in this utility model embodiment one；
Fig. 5 is the default print that the user shot in advance in this utility model embodiment one eyes left；
The walking-replacing tool that Fig. 6 provides for the second embodiment in this utility model embodiment one controls apparatus structure frame
Figure；
The walking-replacing tool that Fig. 7 provides for the third embodiment in this utility model embodiment one controls apparatus structure frame
Figure；
The walking-replacing tool that Fig. 8 provides for the in this utility model embodiment one the 4th kind of embodiment controls apparatus structure frame
Figure；
The structured flowchart of the Fig. 9 a kind of walking-replacing tool system for providing in this utility model embodiment one；
The structural representation of the Figure 10 a kind of wheelchair system for providing in this utility model embodiment two；
The hardware connection diagram of the Figure 11 wheelchair system for providing in this utility model embodiment two；
The workflow diagram of the Figure 12 wheelchair system for providing in this utility model embodiment two；
When Figure 13 is that in this utility model embodiment two, wheelchair realizes main movement, each Mecanum wheel routing motion shows
It is intended to.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under making creative work premise
The all other embodiments obtained, broadly fall into the scope of this utility model protection.
Embodiment one
Embodiment of the present utility model provides a kind of walking-replacing tool to control device, as it is shown in figure 1, this walking-replacing tool controls dress
Put and include: photographic head 11, for shooting the eyes image of user；Graphics processing unit 12, is connected with photographic head 11, is used for connecing
Receive the eyes image of photographic head 11 shooting, and therefrom identify the eye motion of user；Control unit 13, for according to identification
The eye motion gone out generates the corresponding action command for controlling walking-replacing tool motion.
The walking-replacing tool that the present embodiment provides controls device, can preset some eye motion and set up eye motion with right
The corresponding relation of walking-replacing tool operation also stores, exemplarily, and as a example by wheelchair can be as shown in the table: the user preset
Eye motion may include that nictation and to the left, to the right, upwards, look down, and, eye left correspondence wheelchair operation be wheelchair
Turning left, the wheelchair operation of correspondence of eyeing right is that wheelchair is turned right, and the corresponding wheelchair that looks up advances, and looks down corresponding wheelchair rollback, blinks
Eye once represents confirmation command, represents that wheelchair stops continuously nictation for twice, represents for three times nictation continuously and starts to start this control
Operation etc..It is understood that the eye motion of user specifically includes which eye motion and eye motion and wheelchair
The corresponding relation of operational motion is not specifically limited, and can be configured according to practical situation during practice.Furthermore it is possible to
Preset before dispatching from the factory, it is also possible to carried out self-defined by user in use.Described in the present embodiment, walking-replacing tool is not limited to wheelchair, also may be used
To be balance car, electric unicycle etc..
| Eye motion | Wheelchair operation |
| Eye left | Turn left |
| Eye right | Turn left |
| Look up | Advance |
| Look down | Retreat |
| Blink 1 time | Confirm |
| Blink 2 times | Stop |
| Blink 3 times | Start |
As a example by wheelchair, during above-mentioned control device specific works, use photographic head 11 to shoot the eyes image of user, take the photograph
As an eyes image for 11 shootings is transferred to graphics processing unit 12 by the way of wired or wireless, graphics processing unit 12 leads to
Cross image procossing and therefrom identify the eye motion of user, the eye motion then preset by inquiry by control unit 13 with
The mapping table of wheelchair operation action, thus generates the action command making wheelchair produce respective action.Such as, at by image
Reason identifies the eye motion of user for eyeing left, then control unit 13 generates the action command of instruction wheelchair left-hand rotation and transmits
To the actuating unit of wheelchair, to realize the left-hand rotation operation of wheelchair.
The walking-replacing tool provided by the present embodiment controls device, it is possible to achieve is controlled operation by eye motion and rides instead of walk work
Tool, it is not necessary to use the action of the body parts such as lower limb, arm or hands, solve existing walking-replacing tool and operate tired for limbs inconvenience personage
Difficult problem.
Also can also include as in figure 2 it is shown, above-mentioned walking-replacing tool controls device: glasses, above-mentioned photographic head 11 is integrated in eye
On mirror, on the one hand it is easy to user and wears, on the other hand can also block eye motion when walking-replacing tool is operated by user,
Avoid causing other people curiosity and concern.A kind of preferred implementation as in figure 2 it is shown, be integrated in the mirror of glasses by photographic head 11
On sheet, the simultaneously position integrated communicaton module (such as bluetooth radio module 111) on photographic head 11 side and power supply on glasses
Module (such as battery 131), power module provides electric power, the eyes image of photographic head 11 shooting for photographic head 11 and communication module
It is sent to graphics processing unit 12 by communication module.
As it is shown on figure 3, in the first embodiment of the present embodiment, above-mentioned graphics processing unit 12 includes: coordinate
Determine subelement 121, for utilizing the grey value difference between the white of the eye of human eye, iris and pupil, from photographic head 11 shooting
Eyes image identifies pupil and determines pupil coordinate；Action determines subelement 122, for by pupil coordinate and each default sample
Pupil coordinate in sheet carries out comparison one by one, it is judged that whether pupil coordinate and the difference of the pupil coordinate in default print be default
In the range of, if in preset range, it is determined that user is made that the eye motion in default print, presetting print is in advance
The eye motion image of the user of shooting.
Identify pupil by image procossing and determine pupil coordinate, to those skilled in the art, typically comparing
Easily realize, the most exemplarily only underdraw: the eyes image captured by step one, photographic head 11 is mainly the eye of human eye
In vain, the part such as iris, pupil, utilize grey value difference between three, it is achieved Pupil diameter.To this end, can be first with maximum kind
Between variance method picture is split, it is achieved binaryzation, determine iris outward flange, subsequently, determine iris by Gray Projection method
Centre coordinate, finally utilizes Hough transformation based on circle and method of least square to confirm that pupil center location (determines that pupil is sat
Mark)；Step 2, pupil coordinate step one determined carry out comparison one by one with the pupil coordinate in each default print, preset
Print is the eye motion image shot in advance in the user debugging stage when using first.
Such as, as shown in Figure 4, for shoot in advance user look straight ahead time eye motion, it is stipulated that now pupil sit
It is designated as zero；Fig. 5 is the default print that the user shot in advance eyes left.When eyeball turns left, and i.e. eyes left,
Pupil is offset by center origin to the left relative to position, in like manner, when to the right, when rotating up and down, pupil position also occur corresponding partially
Moving, pupil color is relatively deep, pupil can be recognized accurately in whole eyeball by the method for graphical analysis in step one
Position.The pupil coordinate in step 2, step one determined and the comparison one by one of default print, if wherein that step one is true
When the pupil coordinate made and the default print comparison eyed left shown in Fig. 5, the pupil coordinate that step one is determined is the most empty
In scope shown in line, i.e. think that the difference of pupil coordinate that step one determines and the pupil coordinate in default print is being preset
In the range of, then the eye motion of user is defined as eyeing left.
As shown in Figure 6, in the second embodiment of the present embodiment, described walking-replacing tool controls device, also includes moving
Prepare unit 14, be connected with graphics processing unit 12, for identifying the eye motion of user at graphics processing unit 12
And received this control sign on of user input by graphics processing unit 12 after, it is judged that the current shape of walking-replacing tool
Whether state is in default action SBR, and when judged result is no, generation action preparation instruction, described action prepares
Instruction is used for indicating described walking-replacing tool to be adjusted to action SBR from current state, and it is accurate that walking-replacing tool is in described action
During standby state, it is suitably executed the action command that above-mentioned eye motion is corresponding.
Before walking-replacing tool is carried out the operational motion representated by eye motion, need to confirm the current state of walking-replacing tool such as
What, if it is appropriate to this operational motion, if not suitable for needs are existing, walking-replacing tool current state is adjusted, is allowed to be in
The action SBR of this operational motion can be carried out safely, it is to avoid security incident occurs.Action SBR pre-sets,
Different according to action command to be performed.Such as, as a example by wheelchair, if wheelchair is currently at the advance shape of fair speed
State, operator is turned left by eye motion instruction wheelchair, at this moment points out operator " whether this control starts？", person to be operated
Input this control sign on by eye motion (such as blinking once), shot by photographic head 11, graphics processing unit
After 12 image procossing, action preparatory unit 14 receives this control sign on of user input, it is judged that wheelchair current
State velocity is too high, is not suitable for carrying out turning left (i.e. judging that wheelchair is not presently within action SBR), and now generation action is accurate
Standby instruction, action preparation instruction instruction wheelchair reduces speed or stop motion, turns left for the wheelchair performed representated by eye motion
Instruction is prepared, it is to avoid high-speed left turn is accidents caused.Walking-replacing tool can Real-time Feedback or record previous action executing result, it is thus achieved that
The current state of walking-replacing tool, action preparatory unit 14 is if it is determined that the current state of walking-replacing tool is appropriate to eye motion institute
Corresponding action command, at this moment can not generate action preparation instruction, directly carries out next step operation.The current state of walking-replacing tool
Include but not limited to the angle etc. of the current each wheel of travel speed, direction of advance and walking-replacing tool of walking-replacing tool.
As it is shown in fig. 7, in the third embodiment of the present embodiment, on the basis of a upper embodiment the most further
Including: Tip element 15, for after graphics processing unit 12 identifies the eye motion of user, whether prompting user
Perform the action command that eye motion is corresponding；Transmitting element 16, after performing instruction in the confirmation receiving user, by action
Instruction sends the motor driver to walking-replacing tool.Tip element 15 can use the prompting mode such as voice, picture, by prompting
Unit 15 is pointed out, after transmitting element 16 receives the confirmation execution instruction of user, then the mode that action command is sent,
Realize action command the most all can recall, maloperation can be avoided, improve safety.
As shown in Figure 8, in the 4th kind of embodiment of the present embodiment, on the basis of a upper embodiment the most further
Including: release unit 17, for receiving this control END instruction of user input, and refer to according to this control end
Order generates for indicating walking-replacing tool to stop and closing the release instruction of transmitting element 16.This control is inputted at user
After END instruction, release unit 17 indicates walking-replacing tool to stop and closing transmitting element 16, is possible to prevent maloperation.
Above-mentioned this eye control sign on, confirmation execution instruction and this eye control END instruction all can lead to photographic head
The eyes image of shooting user, carries out image recognition through graphics processing unit and obtains.
The walking-replacing tool provided by the present embodiment controls device, it is possible to achieve controlled the generations such as operation wheelchair by eye motion
Step instrument, it is not necessary to use the action of the body parts such as lower limb, arm or hands, solves existing walking-replacing tool and grasps for limbs inconvenience personage
The problem making difficulty；Safety is guaranteed simultaneously, and can prevent maloperation.
Embodiment of the present utility model also provides for a kind of walking-replacing tool system, and this walking-replacing tool system includes: walking-replacing tool
Controlling device with the walking-replacing tool described in any of the above-described item, walking-replacing tool is as a example by wheelchair, as it is shown in figure 9, wheelchair 20 includes entirely
Azimuth handwheel 23, the driving motor 22 driving directional wheel 23 and control drive the motor driver 21 of motor 22；Control device
The action command outfan of 10 is connected with motor driver 21, can between connected control device 10 and motor driver 21 herein
With communication, can be realized by wireless adapter including wired and wireless mode, such as wireless mode.The wheel that the present embodiment provides
The walking-replacing tool systems such as chair, it is possible to achieve eye motion controls, it is not necessary to use the action of the body parts such as lower limb, arm or hands, solve
The existing wheelchair problem for limbs inconvenience personage's operating difficulties.
Further, above-mentioned walking-replacing tool may also include that stop button, for receiving the halt instruction by force of input；Peace
Full panel, is connected with stop button and motor driver 21, for when receiving halt instruction by force, to motor driver
21 send the instruction closing driving motor.Occupant is generally limbs inconvenience personage, needs to stop generation if there is fortuitous event
Step instrument, operates slow by eye motion, at this moment can be pressed stop button by caregiver and carry out brake hard.
Embodiment two
Embodiment of the present utility model also provides for a kind of walking-replacing tool control method, including: step one, shooting user
Eyes image；Step 2, by image procossing, from the eyes image of shooting, identify the eye motion of user；Step 3,
The corresponding action command for controlling walking-replacing tool motion is generated according to the described eye motion identified.
The walking-replacing tool control method that the present embodiment provides, shoots eyes image, then by image procossing from image
Identify the eye motion of user and convert the action command controlling walking-replacing tool motion, it is possible to achieve controlling by eye motion
System operation walking-replacing tool, it is not necessary to use the action of the body parts such as lower limb, arm or hands, solve existing wheelchair for limbs not person who happens to be on hand for an errand
The problem of scholar's operating difficulties.
Further, before above-mentioned steps three, also include: this eye control sign on of reception user input, and
After receiving this control sign on, it is judged that whether the current state of walking-replacing tool is in default action SBR, and
When judged result is no, generation action preparation instruction, described action preparation instruction is used for indicating walking-replacing tool from current state
It is adjusted to action SBR, when walking-replacing tool is in action SBR, is suitably executed the action command that eye motion is corresponding.
Action preparation instruction instruction walking-replacing tool reduces speed or stop motion, turns left for the walking-replacing tool performed representated by eye motion
Instruction is prepared, it is to avoid high-speed left turn is accidents caused.
After step 3, may also include that whether step 4, prompting user perform the action command that eye motion is corresponding；
After the confirmation receiving user input waiting performs instruction, action command is sent the motor driver to walking-replacing tool.Wait to make
After user confirms, then action command is sent, before action command sends, all can recall action command, maloperation can be avoided,
Improve safety.
The walking-replacing tool control method that the present embodiment provides also includes: step 5, this eye control of reception user input
END instruction, and be used for indicating walking-replacing tool to stop according to this eye control END instruction described generation and stop sending out to walking-replacing tool
The release sending action command instructs.
In order to those skilled in the art are better understood from walking-replacing tool and the controlling party thereof that this utility model embodiment provides
Method, the scheme provided this utility model below by specific embodiment is described in detail.
As shown in Figure 10 and Figure 11, this utility model embodiment provides a kind of wheelchair system, and wheelchair system is by glasses 18 He
Wheelchair forms, and glasses are integrated with photographic head 11 and bluetooth radio module 111 and battery 131, can captured in real-time send eye
Portion's image, wheelchair includes seat 24, is arranged on directional wheel 23 (generally four) and wheel hub motor bottom seat 24
221, motor driver 21, also include that the processor 19, memorizer (not shown) and the bluetooth that are arranged on seat 24 are wireless
Module 111-2, voice cue module 151, power module and air switch etc..Wheelchair can real-time reception eyes image passing through
Image analysis algorithm identifies eye motion, and simultaneous processor 19 sends corresponding instruction according to eye motion, controls directional wheel
23 rotate adjustment direction, and control the forward and backward movement of wheelchair and other action.It will be appreciated by persons skilled in the art that
The software program that processor 19 is set by execution, it is possible to achieve graphics processing unit 12 in embodiment one, control unit 13,
Action preparatory unit 14 and the function of release unit 17, and the partial function of transmitting element part 16.
Exemplarily, the present embodiment eye control wheelchair is according in the corresponding relation such as embodiment one of eye motion and wheelchair operation
Shown in table 1, table, eyes to left and right, upper and lower see that corresponding wheelchair left, right, front and rear are moved respectively, 1,2,3 correspondences respectively of blink
Determine, stop, starting, support self-defined setting.
So, as shown in figure 12, the present embodiment wheelchair system operation principle is as follows: user wears and is integrated with photographic head 11
Glasses, after startup, photographic head 11 is with speed (this speed can be manually set) the captured in real-time eyes image of 10 times per second, and leads to
Crossing the processor 19 that bluetooth wireless mode sends images on wheelchair, processor 19 real time processed images also identifies eye and moves
Make.Before user controls wheelchair, need to blink 3 times continuously to obtain control authority.When user rotate eyes to the left or to the right or
Upwards or when looking down 1 time, system combines eye and moves recognition result and operate corresponding table, be given the most to the left with voice mode or
To the right or forward or the prompting that is moved rearwards by, user blinks once again, confirms, then wheelchair starts to perform to identify eye
The operation that action is corresponding.Last up to user when needing to stop, continuously this can terminate the control process to wheelchair twice nictation.
It should be noted that for same action command, action that each directional wheel 23 is last also differs.
The preferred Mecanum wheel of directional wheel 23 (Mecanum wheel) in the present embodiment.Mecanum wheel, also known as universal
Wheel, this takes turns on the basis of conventional wheel, and many along (generally 45 °) at an angle with axle directional spreding again on wheel rim can be certainly
By the little roller (i.e. running roller) rotated, so when wheel (i.e. centre wheel) rolls, little roller will produce lateral movement, pass through
Cooperating of 4 Mecanum wheels of wheelchair so that system is capable of the all-around mobile in plane, and this is taken turns in addition
The system of composition has that bearing capacity is strong, simple for structure, motor control flexibly, by advantages such as property are good, be suitable on wheelchair pacifying
Dress.
As shown in figure 13, as a example by Mecanum wheel, it is shown that when the wheelchair of outfit Mecanum wheel realizes main movement, respectively
The situation of wheel routing motion: during advance, each wheel (four Mecanum wheels of wheelchair) rotates the most forward；During retrogressing, each wheel all to
Rear rotation；During right lateral, front revolver and rear right wheel rotate forward, and front right wheel and rear revolver rotate backward simultaneously；During left lateral, front revolver
Rotating backward with rear right wheel, front right wheel and rear revolver forwards move simultaneously；When rotating clockwise, front revolver and rear revolver forwards
Dynamic, front right wheel and rear right wheel rotate backward simultaneously；When rotating counterclockwise, front revolver and rear revolver rotate backward, front right wheel simultaneously
Rotate forward with rear right wheel；When advancing to right front, front revolver and rear right wheel rotate forward, and front right wheel and rear revolver do not turn simultaneously
Dynamic；When advancing to left front, front right wheel and rear revolver forwards move, and the most front revolver and rear right wheel do not rotate.Above-mentioned each wheel
Forward, the situation of rotating backward refers both to the centre wheel rotation direction of corresponding Mecanum wheel.
The running roller of Mecanum wheel can rotate by the most independent carrying out, and when Mecanum wheel rotates, sum velocity is vertical
In roller direction, and can be broken down into advancing, walking crosswise both direction.Simply introduce as a example by right lateral moves below, figure
In 13 right lateral figures, the direction of arrow on wheel side represents each Mecanum wheel rotation direction (more specifically Mecanum wheel respectively
Centre wheel rotation direction), each wheel is done resolution of velocity by based on advancing and walking crosswise both direction, it is found that direction of advance
Speed be cancelled, only surplus laterally (right side) speed, therefore, this car body can realize motion to the right.This is this area
Common knowledge, describes in detail the most one by one.
The wheelchair that the present embodiment provides is by monitoring and identifies eye motion (including that nictation and eyeball move), it is achieved to wheel
The control of chair；Wheelchair have employed directional wheel, and by specific eyeball action, the motion between being taken turns by each is coordinated, it is achieved
Wheelchair is in the case of radius of turn is zero, it is achieved the control to wheel chair sport direction, and concrete control principle is: utilize shooting to build
Vertical sample (i.e. presetting print) eye motion real-time with user compares, and is changed by contrast center coordinate of eye pupil, and voice carries
Show whether user can take this action, after user confirms, then sent instruction by processor, via motor driver, control respectively
Each motor movement, thus control each directional wheel and cooperate, it is achieved the motion action corresponding to eye motion.The present embodiment
In, eyeball left and right, rotate up and down and can the left, right, front and rear of corresponding wheelchair respectively move, simultaneously for avoiding eyeball to be not intended to turn
Dynamic interference, confirms the validity action also by nictation.
In this utility model embodiment, the sequence number of each step can not be used for limiting the sequencing of each step, for
From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, the priority of each step is changed also in this reality
Within novel protection domain.
Each embodiment in this specification all uses the mode gone forward one by one to describe, identical similar portion between each embodiment
Dividing and see mutually, what each embodiment stressed is the difference with other embodiments.Real especially for equipment
For executing example, owing to it is substantially similar to embodiment of the method, so describing fairly simple, relevant part sees embodiment of the method
Part illustrate.
One of ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method, be permissible
Instructing relevant hardware by computer program to complete, described program can be stored in a computer read/write memory medium
In, this program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Random Access
Memory, RAM) etc..
The above, detailed description of the invention the most of the present utility model, but protection domain of the present utility model does not limit to
In this, any those familiar with the art in the technical scope that this utility model discloses, the change that can readily occur in
Change or replace, all should contain within protection domain of the present utility model.Therefore, protection domain of the present utility model should be with power
The protection domain that profit requires is as the criterion.
Claims (10)
1. a walking-replacing tool system, it is characterised in that including: walking-replacing tool and walking-replacing tool control device, described in ride instead of walk work
Tool includes directional wheel, drives driving motor and controlling the motor driver of described driving motor of described directional wheel；Institute
State walking-replacing tool control device to include:
For shooting the photographic head of the eyes image of user；
The processor being connected with described photographic head, described processor receives the eyes image of described photographic head shooting, and according to institute
State the eye motion in eyes image and generate the corresponding action command for controlling walking-replacing tool motion, moving of described processor
Make instruction output end to be also connected with described motor driver.
Walking-replacing tool system the most according to claim 1, it is characterised in that also include: glasses, described photographic head is integrated in
On described glasses.
Walking-replacing tool system the most according to claim 2, it is characterised in that described photographic head is integrated in the mirror of described glasses
On sheet.
4. according to the walking-replacing tool system described in any one of claim 1-3, it is characterised in that also include: for taking the photograph described
As the eyes image of head shooting is sent to the communication module of described processor.
Walking-replacing tool system the most according to claim 4, it is characterised in that described communication module is bluetooth.
6. according to the walking-replacing tool system described in any one of claim 1-3, it is characterised in that also include:
For pointing out whether user performs the voice cue module of action command corresponding to described eye motion, with described process
Device is connected.
Walking-replacing tool system the most according to claim 1, it is characterised in that the eye motion of described user includes: blink
Eye and to the left, to the right, upwards, look down.
Walking-replacing tool system the most according to claim 1, it is characterised in that described directional wheel is Mecanum wheel.
Walking-replacing tool system the most according to claim 1, it is characterised in that also include:
Stop button, for receiving the halt instruction by force of input；
Security control plate, is connected with described stop button and described motor driver, for stopping by force referring to described in receiving
When making, send the instruction closing described driving motor to described motor driver.
Walking-replacing tool system the most according to claim 1, it is characterised in that also include: described walking-replacing tool system is wheel
Chair system.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620547992.4U CN205721637U (en) | 2016-06-07 | 2016-06-07 | Walking-replacing tool system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620547992.4U CN205721637U (en) | 2016-06-07 | 2016-06-07 | Walking-replacing tool system |
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| CN205721637U true CN205721637U (en) | 2016-11-23 |
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| CN (1) | CN205721637U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107242866A (en) * | 2017-05-05 | 2017-10-13 | 北京东软医疗设备有限公司 | Medical Devices and the method for control Medical Devices movement |
| CN107260420A (en) * | 2017-07-03 | 2017-10-20 | 南京邮电大学 | Intelligent wheel chair human-computer interactive control system and method based on eye motion recognition |
| WO2017211114A1 (en) * | 2016-06-07 | 2017-12-14 | Boe Technology Group Co., Ltd. | Travel tool control method, device and system |
-
2016
- 2016-06-07 CN CN201620547992.4U patent/CN205721637U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017211114A1 (en) * | 2016-06-07 | 2017-12-14 | Boe Technology Group Co., Ltd. | Travel tool control method, device and system |
| CN107242866A (en) * | 2017-05-05 | 2017-10-13 | 北京东软医疗设备有限公司 | Medical Devices and the method for control Medical Devices movement |
| CN107260420A (en) * | 2017-07-03 | 2017-10-20 | 南京邮电大学 | Intelligent wheel chair human-computer interactive control system and method based on eye motion recognition |
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