Self-learning wheel chair control method based on change of gravity center of human body

Abstract

The invention discloses a self-learning wheel chair control method based on change of a gravity center of a human body, and belongs to the field of pattern recognition and intelligent systems. According to the self-learning wheel chair control method, a pressure sensor is installed between a wheel chair seat and a framework so as to collect force distribution under a sitting position of the human body, two-dimensional areal coordinates are calculated, and real-time data of the center of the gravity are stored in an embedded type computer; and algorithm optimization is conducted to the number of neurons in an output layer, network initial weight value, a network neighborhood radius adjusting rule and the like according to a basic learning process of a normal self-organizing feature map (SOFM) algorithm, and therefore operating complexity is reduced, calculating instantaneity of the algorithm in application is improved, and the purpose that algorithms are controlled to be different according to difference of people is achieved. By utilizing the improved SOFM algorithm, and in the process of driving habit learning, rate of convergence of an SOFM clustering algorithm and learning efficiency are greatly improved, instantaneity of the algorithm and accuracy of cluster are improved, the requirement of wheel chair real-time learning and controlling is met, and the problem that manual parameter adjustment is fussy due to difference of driving habits of users is solved.

Description

technical field [0001] A method for controlling the movement direction and speed of a wheelchair based on changes in the Center of Gravity (COG) of the human sitting posture, using the self-organizing feature mapping (Self-Organization Feature Mapping, SOFM) neural network algorithm to autonomously adjust and optimize the driving operation-related Fuzzy control algorithm parameters, complete active learning and distinguish the driving habits of different occupants, use the center of gravity changes generated by sitting posture adjustment, to achieve the purpose of wheelchair motion control and driving, which belongs to the field of pattern recognition and intelligent systems. Background technique [0002] At present, the number of people over the age of 60 in the world has reached more than 600 million, and the aging problem of the social population is becoming more and more prominent; at the same time, due to various traffic accidents, natural disasters and various diseases ...

AI Technical Summary

Problems solved by technology

[0005] (1) Manual operation, which limits the freedom of hands to participate in other activities

Human-computer interaction methods such as handles, keyboards, mice, and touch screens, etc., require hands to participate in wheelchair control, thus restricting wheelchair occupants from participating in rehabilitation training or sports that require both hands. cause inconvenience;

[0006] (2) The input signal is easily disturbed by external environmental factors, and the robustness is poor

Such as voice and EEG signals, etc., are easily interfered by external environmental factors, resulting in unsatisfactory control effects or loss of control, etc.

In a noisy environment, the voice input method is almost unusable, so the above-mentioned control methods are almost impossible to apply in the actual environment

[0007] (3) It does not have the function of self-learning driving habits, and it is difficult or impossible to meet the needs of users with different driving habits

In the human-computer interaction mode of various wheelchairs, there is a certain deviation in the operating habits between the wheelchair occupant and the designer, and the operation of each occupant is quite different. However, the current intelligent wheelchair cannot realize varies from person to person

Since it is impossible to independently learn driving habits for different users, the configuration of control parameters due to individual differences will be too cumbersome and complicated during the productization process of the designed wheelchair, which will bring a lot of difficulties and inconvenience to developers and passengers

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