Electric wheelchair control with gaze direction and eye blinking
Electric wheelchair control with gaze direction and eye blinking
复制标题
带注视方向和眨眼功能的电动轮椅控制
作者：
D. Purwanto;R. Mardiyanto;K. Arai
我们提出了一种通过凝视方向和眨眼控制的电动轮椅。在轮椅使用者面前设置了一个摄像头来捕捉图像信息。解释顺序捕获的图像以获得凝视方向和眨眼属性。凝视方向用凝视的水平角度来表示，这是由眼睛和鼻子的中心形成的三角形得出的。凝视方向和眨眼分别用于提供方向和定时命令。方向指令涉及电动轮椅的移动方向，定时指令涉及轮椅应该移动的时间。带有眨眼机制的计时命令旨在为电动轮椅生成准备好的、向后移动和停止的命令。此外，为了以一定的速度移动，电动轮椅还接收速度命令以及方向和定时命令。采用基于扰动观测器的控制系统实现对方向和速度的控制。为了安全起见，当电动轮椅使用者在指定的时间内没有将目光集中在任何方向时，就会产生紧急停止。在实验室环境下对电动轮椅进行了大量的仿真和实验。
We propose an electric wheelchair controlled by gaze direction and eye blinking. A camera is set up in front of a wheelchair user to capture image information. The sequential captured image is interpreted to obtain the gaze direction and eye blinking properties. The gaze direction is expressed by the horizontal angle of the gaze, and this is derived from the triangle formed by the centers of the eyes and the nose. The gaze direction and eye blinking are used to provide direction and timing commands, respectively. The direction command relates to the direction of movement of the electric wheelchair, and the timing command relates to the time when the wheelchair should move. The timing command with an eye blinking mechanism is designed to generate ready, backward movement, and stop commands for the electric wheelchair. Furthermore, to move at a certain velocity, the electric wheelchair also receives a velocity command as well as the direction and timing commands. The disturbance observer-based control system is used to control the direction and velocity. For safety purposes, an emergency stop is generated when the electric wheelchair user does not focus their gaze consistently in any direction for a specifi ed time. A number of simulations and experiments were conducted with the electric wheelchair in a laboratory environment.