Wheelchair control method and system sharing head posture interaction control and autonomous learning control

Abstract

The invention provides a wheelchair control method and system sharing head posture interaction control and autonomous learning control, and the method comprises the steps: obtaining a depth image of aface of a user through a Kinect sensor, estimating a head posture through employing a random forest in combination with a nearest point iteration method, and building a model from head posture recognition to wheelchair control; in a structured scene, through a head posture interaction mode, a user controls a wheelchair to carry out operation skill demonstration of a specific track, and an observation data sequence of a demonstration process is acquired; representing the obtained operation skill observation data sequence by using a Gaussian mixture model, and learning Gaussian mixture model parameters by using an EM algorithm; a Gaussian mixture regression method is used for reproducing robot wheelchair operation skills, and autonomous control based on head posture imitation learning is achieved; and the user judges the current environment information and switches between a head posture interaction control mode and an autonomous learning control mode in a key pressing mode, and sharingcontrol over the robot wheelchair is achieved. The functions of the robot wheelchair are enriched, and old and disabled people can go out conveniently.

Description

technical field [0001] The invention belongs to the field of robot learning and human-computer interaction, and in particular relates to a wheelchair control method for head posture interactive control and autonomous learning control sharing. Background technique [0002] In recent years, with the improvement of living standards and the continuous development of medical and health technology, the quality of life of the disabled and the elderly has received more attention. The emergence of intelligent mobile robots has facilitated their travel and has become a new field of medical aids. Research hotspots. Among them, for people with physical disabilities, the human-computer interaction method based on head posture is a new choice, which is favored by many consumers and domestic and foreign researchers, and has high market value and research value. In practice, the working environment of mobile robots is often modeled in a highly complex form, so autonomous navigation can be ...

AI Technical Summary

Problems solved by technology

In fact, the working environment of mobile robots is often modeled in a highly complex form, so autonomous navigation may be difficult

This difficulty is exacerbated for practical robots with limited computing resources and complex planning algorithms since this mode of environment modeling requires enormous computing power

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