A wheelchair control method and system sharing head posture interactive control and autonomous learning control

Abstract

The present invention provides a wheelchair control method and system for head posture interactive control and autonomous learning control sharing. The depth image of the user's face is obtained through the Kinect sensor, and the head posture is estimated by using random forest combined with the nearest point iteration method to establish head posture recognition. to the model of wheelchair control; in a structured scene, through head-posture interaction, the user controls the wheelchair to demonstrate the operation skills of a specific trajectory, and obtains the observation data sequence of the demonstration process; uses the Gaussian mixture model to perform the obtained operation skill observation data sequence Characterize, and use the EM algorithm to learn the parameters of the Gaussian mixture model; use the Gaussian mixture regression method to reproduce the operation skills of the robot wheelchair, and realize the autonomous control based on the imitation learning of the head posture; the user judges the current environmental information, and controls the head posture interactively by pressing the button Switch between the control mode and the autonomous learning control mode to realize the shared control of the robot wheelchair. The invention enriches the functions of the robot wheelchair and facilitates the travel of the elderly and disabled people.

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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