Human-computer interaction system and method of intelligent wheelchair based on head posture

Abstract

The invention relates to the technical field of computer vision control, in particular to a human-computer interaction system and method of an intelligent wheelchair. In the invention, a lip window is obtained through a lip classifier, then the detected lip window is compared with a rectangular window on a fixed position to obtain the head posture, and the moving state of the intelligent wheelchair is determined through the head posture; and a Kalman filter predicts the possible appearing positions of the next lip detection window according to the specific position of the previous-frame lip window, and feeds the predicted search window as an initial search position back to the lip classifier, and carries out detection on the next frame image. According to the invention, the lip detection time is greatly shortened, the lip detection precision is improved, the problem of delay in the moving process of the intelligent wheelchair caused by excessively long lip detection time in the control process using head posture control of the intelligent wheelchair is solved, and the aim of realizing continuous movement of the intelligent wheelchair in the head posture control process is achieved.

Description

technical field [0001] The invention relates to the technical field of computer vision control, in particular to a human-computer interaction system and an interaction method for an intelligent wheelchair. Background technique [0002] According to a report issued by the United Nations, the aging process of the world's population is accelerating. In the next 50 years, the proportion of the population over the age of 60 is expected to double, and the number of disabled people due to various disasters and diseases is also increasing year by year. They have different degrees of loss of abilities, such as walking, vision, hands and language. Therefore, providing superior mobility tools for the elderly and disabled has become one of the key concerns of the entire society. As a service robot, intelligent wheelchair has multiple functions such as autonomous navigation, obstacle avoidance, man-machine dialogue, and provision of special services. integration into society is possibl...

AI Technical Summary

Problems solved by technology

However, the human-computer interaction of the smart wheelchair mentioned above does not mention the use of head gestures to control the wheelchair.

[0004] In "Human-Computer Interaction Based on Head-Position-Based Robots" published in "Journal of Chongqing University of Posts and Telecommunications (Natural Science Edition)" Volume 22, Issue 4, a method is disclosed to determine the head posture through lip detection, and then control the robot through the posture. However, when simply using the lip classifier for lip detection, the entire window to be detected needs to be searched one by one, the detection efficiency is low, and the time-consuming is relatively large. The internal detection time is too long, which causes a delay in the movement of the smart wheelchair, which is not coherent enough

Images