Intelligent wheelchair based on motor imagery electroencephalogram and head posture and control method

Abstract

The invention discloses an intelligent wheelchair based on motor imagery electroencephalogram and a head posture and a control method. The intelligent wheelchair comprises an electric wheelchair and additional devices including electroencephalogram acquisition equipment, head posture acquisition equipment, neck myoelectricity acquisition equipment, a head posture estimation module, a virtual cursor control module, a wheelchair man-machine interaction interface module, a fatigue sensing module and an intelligent wheelchair. A control method comprises the following steps: (1) in a motor imagery electroencephalogram control mode, using sensory motion rhythm to control a virtual cursor, and in the head posture interaction control mode, using a head posture to control the virtual cursor; (2) switching the motor imagery electroencephalogram control mode and the head posture interaction control mode according to the fatigue state of the neck muscles of the user; and (3) calculating corresponding rotating speeds of left and right wheels of the wheelchair through a differential kinematics model according to the coordinate position of the virtual cursor. By means of the control method and device, the speed and the steering angle of the intelligent wheelchair can be continuously adjusted, the fatigue degree of the neck muscles during user operation is relieved, and the continuity and comfort of the intelligent wheelchair are improved.

Description

technical field [0001] The invention relates to the technical field of brain-computer interface and machine vision, in particular to a continuous control method and system for an intelligent wheelchair based on motor imagery brain electricity and head posture interaction. Background technique [0002] With the increasing attention paid to the elderly and the disabled in today's society, how to meet the travel needs of the above-mentioned groups has become a hot social issue that needs to be solved urgently. In recent years, smart wheelchairs have played an important role in solving the travel problems of the elderly and disabled groups. Brain-computer interface is an emerging technology. One of its ultimate research goals is to realize the control of external devices by decoding the user's brain activity in real time, which can help high paraplegia and hemiplegia users reconnect with the outside world. Motor imagery EEG signal is a typical spontaneous EEG signal. When the s...

AI Technical Summary

Problems solved by technology

Usually, only one piece of EEG signal can be collected, and after the EEG signal is classified, a discrete control command of forward, backward, left turn or right turn can be obtained. The riding experience is quite different from other traditional methods of control, and the speed cannot be adjusted. , without continuity and comfort

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