Intelligent wheel chair control method based on brain-computer interface and automatic driving technology

Abstract

The invention discloses an intelligent wheel chair control method based on a brain-computer interface and an automatic driving technology. The method comprises the following steps: obtaining current pictures by a network camera to position a barrier; generating a candidate destination by the information of the barrier, and a track point for planning a path; automatically positioning a wheel chair; selecting the destination by a user through the brain-computer interface; planning the optimal path by combining the track point and by using the current position of the wheel chair as the starting point and the destination selected by the user as the end point; calculating the position difference between the current position of the wheel chair and the optimal path to be used as the feedback of a PID path tracking algorithm; calculating the reference angular speed and the reference linear speed according to the PID path tracking algorithm to be incorporated into a PID movement controller, converting mileage data into current angular speed and linear speed information to be used as the feedback of the PID movement controller, and controlling the wheel chair in a real-time way to drive to the destination. For the method, the mental burden of a user is greatly relieved, the method can adapt to various environments, and the self-care ability of a paralytic patient with serious illness is improved.

Description

technical field [0001] The invention relates to the field of brain-computer interface application research and artificial intelligence, in particular to an intelligent wheelchair control method based on brain-computer interface and automatic driving technology. Background technique [0002] Millions of people with disabilities around the world lose motor function due to motor impairment. Thousands of them rely on electric wheelchairs for their daily lives. However, there are still some people with loss of motor function who cannot control traditional electric wheelchairs. There are two reasons: (1) they cannot control such wheelchairs through traditional interfaces (such as wheelchair joysticks); Believed to be incapable of safely controlling this type of wheelchair. [0003] With the rapid development of artificial intelligence technology, more and more research results have been applied to assist the motor function of such people, thereby improving their quality of life....

AI Technical Summary

Problems solved by technology

There are following 3 problems in the invention described above: (1) wheelchair control is multi-objective, including start, stop, direction control and speed control

But the current brain-computer interface is difficult to generate so many control commands

Although the patent (intelligent wheelchair based on multi-modal brain-computer interface, publication number: CN102309380A) has adopted multi-modal brain-computer interface to obtain various control commands, it takes a long time to generate accurate control commands with P300 or SSVEP, Not suitable for practical control of the wheelchair

(2) The performance of the brain-computer interface varies from person to person

For example, many people fail to produce clearly distinguishable control signals after prolonged motor imagery training

(3) Controlling the wheelchair through the brain-computer interface for a long time creates a greater mental burden on the user

However, for disabled people with loss of motor function, such as (ALS) patients, there will be obstacles to using traditional human-machine interfaces (eg, joysticks, keyboards, etc.)

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