CN109498296B - Control method based on paralytic auxiliary blowing control wheelchair - Google Patents
Control method based on paralytic auxiliary blowing control wheelchair Download PDFInfo
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- CN109498296B CN109498296B CN201811624237.1A CN201811624237A CN109498296B CN 109498296 B CN109498296 B CN 109498296B CN 201811624237 A CN201811624237 A CN 201811624237A CN 109498296 B CN109498296 B CN 109498296B
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- 238000007664 blowing Methods 0.000 title claims abstract description 199
- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000001769 paralizing effect Effects 0.000 title description 2
- 206010033799 Paralysis Diseases 0.000 claims abstract description 58
- 230000006698 induction Effects 0.000 claims abstract description 29
- 238000006243 chemical reaction Methods 0.000 claims abstract description 18
- 238000001914 filtration Methods 0.000 claims description 8
- 238000007493 shaping process Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 description 4
- 230000003321 amplification Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000006870 function Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/10—Type of patient
- A61G2200/20—Type of patient with asymmetric abilities, e.g. hemiplegic or missing a limb
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
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Abstract
The control method based on the paralyzed person assisted blowing control wheelchair provided by the invention presets triggering items of each microphone; the triggering items comprise setting the action state of each direct current motor; the plurality of microphones are arranged on the auxiliary blowing control wheelchair for the paralyzed person; the direct current motor is arranged on the wheel of the paralyzed person auxiliary blowing control wheelchair. Acquiring the air blowing amount obtained by induction conversion of each microphone; and when the air blowing amount reaches the trigger condition, executing corresponding trigger items, and driving the corresponding direct current motor to act according to the trigger items. The method obtains the air blowing quantity obtained by induction conversion from air blowing of a user to the microphones, and identifies the air blowing quantity according to the air blowing quantity of each microphone so as to drive the corresponding direct current motor to act, thereby controlling the action of the wheelchair. The control method is simple and easy to realize, and the microphone selected by the user to blow is correctly identified by a maximum blowing quantity searching algorithm, so that mutual interference among multiple microphones during blowing is effectively reduced, and the accuracy of blowing identification is improved.
Description
Technical Field
The invention belongs to the technical field of medical auxiliary equipment, and particularly relates to a control method for assisting a blowing control wheelchair based on paralysis patients.
Background
The patients who have paralysis under the neck due to diseases or accidents can only be in bed for a long time, and all daily life and daily life depend on the care of the family, and the patients or caregivers are quite hard and heavy. If the paralyzed patient can act autonomously, the life quality of the paralyzed patient is improved, and the burden of family care can be reduced. Therefore, it is a problem to be studied in health care applications that how to make a motion aid such as a wheelchair suitable for paralyzed patients who are restricted in their neck or above.
The electric wheelchair is a wheelchair type which is free from the traditional hand-operated propulsion, but is not suitable for the disabled or paralyzed. For such users, there are many wheelchair products with auxiliary control modes on the market. For example: tongue-controlled wheelchairs, electroencephalogram-controlled wheelchairs, suction-blowing-controlled wheelchairs and the like.
The suction and blowing control wheelchair mainly comprises an air blowing conduit in the mouth of a user, controls the closing of a single mechanical air blowing switch by air blowing pressure, and completes the movement of the wheelchair or the switching of other functions by utilizing the circulating suction and blowing actions. Other wheelchair control methods, such as the method of using brainwaves to control a wheelchair, are most direct and humanized, but cannot be integrally applied to all people, and therefore, the training and learning needs to be performed in advance according to the brainwaves captured by different users, and the cost is extremely high and the commercialization is difficult. Some researches also adopt microphones as the blowing sensing input, which usually needs to be processed by signal amplification, ADC conversion, and digital signal processing, and if there are multiple microphones, the cost is relatively increased in addition to the problem that they are easy to interfere with each other.
Table 1 lists the basic control methods for various existing auxiliary wheelchairs and compares the characteristics of various auxiliary wheelchairs.
TABLE 1 comparison of various existing auxiliary wheelchairs
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the control method for assisting the blowing control of the wheelchair based on the paralyzed person, the microphone is used for receiving the blowing signal to control the movement of the wheelchair, and the algorithm is simple.
The control method based on the paralyzed person assisted blowing control of the wheelchair comprises the following steps:
presetting triggering items of each microphone; the triggering items comprise action states of two groups of direct current motors; the plurality of microphones are arranged on the auxiliary blowing control wheelchair for the paralyzed person; one group of direct current motors are arranged and connected to the front wheels on the left side of the paralyzer auxiliary blowing control wheelchair, and the other group of direct current motors are arranged and connected to the front wheels on the right side of the paralyzer auxiliary blowing control wheelchair;
acquiring the air blowing amount corresponding to each microphone; the blowing amount is obtained by filtering, shaping and converting a blowing signal sensed by a microphone;
and when the air blowing amount reaches a preset trigger condition, executing a trigger item corresponding to the microphone, and driving a corresponding direct current motor to act according to the trigger item.
Preferably, the blowing signal is obtained by a user blowing against the microphone.
Preferably, the blowing amount is the number of intermittent induction pulse signals of a standard TTL level obtained by filtering and shaping the blowing signal induced by the microphone.
Preferably, the trigger condition includes a long blow trigger lower limit and a short blow trigger lower limit;
the long-blowing trigger lower limit comprises a lower limit value of the number of continuous pulses in the intermittent induction pulse signal under the condition that a user blows a microphone for a long time;
the short-blowing trigger lower limit comprises a lower limit value of the number of continuous pulses in the intermittent induction pulse signal under the condition that a user short-blows a microphone;
the long blow trigger lower limit is greater than the short blow trigger lower limit.
Preferably, the trigger event includes an action trigger event, a fine-tuning trigger event and a stop trigger event;
when the blowing amount reaches a preset trigger condition, executing the trigger item corresponding to the microphone specifically comprises:
when the air blowing amount reaches the lower limit of the long-blow trigger, executing action trigger items corresponding to the microphone, wherein the action trigger items comprise controlling the paralyzed person to assist in blowing and controlling the wheelchair to move forward, move backward, turn left or turn right;
when the blowing amount is less than the long-blow trigger lower limit and reaches the short-blow trigger lower limit in the moving state of the wheelchair, executing a stop trigger item corresponding to the microphone to control a paralyzed person to assist in blowing and controlling the wheelchair to stop;
when the paralyzed person assists to blow the microphone for controlling the left turn or the right turn of the wheelchair to obtain air blowing quantity reaching the short-blow triggering lower limit in the state that the wheelchair is stopped, the fine-tuning triggering item corresponding to the microphone is executed so as to finely tune the steering angle for assisting to blow and control the left turn or the right turn of the wheelchair for the paralyzed person.
Preferably, when the blowing amount reaches a preset trigger condition, executing a trigger event corresponding to the microphone specifically includes:
when detecting that a blowing signal of the microphone has a standard TTL (transistor-transistor logic) level pulse after induction conversion, judging whether a counter is started;
if the counter has started, the count of the counter is increased by 1;
if the counter is not started, starting the counter to count, and setting the counter to be 1;
when a counting stop signal is detected after the blowing signal of the microphone is subjected to induction conversion, stopping counting by the counter, setting the numerical value of the counter as the blowing amount, and resetting the counter; the stop counting signal is continuously kept at a high level or a low level within a set time;
and when the air blowing amount reaches a preset trigger condition, executing a trigger event corresponding to the microphone.
Preferably, the method further comprises, after the driving of the corresponding dc motor according to the trigger event, the steps of:
acquiring an output signal of an ultrasonic sensor; the ultrasonic sensor is arranged on the paralyzed person auxiliary blowing control wheelchair;
when the output signal of the ultrasonic sensor meets the preset obstacle condition or height and fall condition, judging that obstacles exist around the paralyzed person assisted blowing control wheelchair or the height and fall of the current location of the paralyzed person assisted blowing control wheelchair is too large; and further generates a warning signal to control the paralyzed person to assist the blowing control wheelchair to stop the current movement.
Preferably, the generating of the warning signal specifically includes:
the control device controls the start of a buzzer or a loudspeaker arranged on the paralyzed person auxiliary blowing control wheelchair and sends out a warning signal.
Preferably, when the blowing amount reaches a preset trigger condition, executing a trigger event corresponding to the microphone specifically includes:
acquiring the air blowing amount of all the microphones, and identifying the microphone to which the maximum air blowing amount belongs;
and judging whether the maximum blowing amount reaches a preset triggering condition, and if so, executing triggering items corresponding to the microphone.
According to the technical scheme, the control method based on the paralyzer-assisted blowing control wheelchair provided by the invention obtains the blowing amount obtained by induction conversion from the blowing of the user to the microphones, and identifies the blowing amount obtained by induction conversion according to the blowing amount obtained by induction conversion of each microphone so as to drive the corresponding direct current motor to act and further control the action of the wheelchair. The control method is simple and easy to implement, and meanwhile, the method correctly identifies the microphone selected by the user to blow by searching the maximum blowing amount algorithm, so that mutual interference during blowing among multiple microphones can be effectively reduced, and the correct rate of blowing identification is improved.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a flowchart of a method according to a first embodiment.
Fig. 2 is a flow chart of the air blowing signal sensing conversion into the air blowing amount of the microphone provided in the third embodiment.
Fig. 3 is a flowchart of a method for determining obstacles or height deviations according to the fourth embodiment.
Fig. 4 is a flowchart of a method for searching for the maximum air blowing amount according to the fourth embodiment.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby. It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
The first embodiment is as follows:
the control method based on the paralyzed person assisted blowing control of the wheelchair, referring to fig. 1, comprises the following steps:
s1: presetting triggering items of each microphone; the triggering items comprise action states of two groups of direct current motors; the plurality of microphones are arranged on the auxiliary blowing control wheelchair for the paralyzed person; one group of direct current motors are arranged and connected to the front wheels on the left side of the paralyzer auxiliary blowing control wheelchair, and the other group of direct current motors are arranged and connected to the front wheels on the right side of the paralyzer auxiliary blowing control wheelchair;
specifically, the triggering events for different microphones are different. For example, assuming that the number of the microphones is 4, the wheelchair is controlled to move forward, backward, turn left and turn right respectively. The wheelchair is controlled to move forward, the rotation directions of the two groups of direct current motors are required to be controlled to be positive rotation at the same time, and the rotation speeds are the same. When the wheelchair is controlled to move backwards, the two groups of direct current motors need to be controlled to rotate reversely at the same time, and the rotating speeds are the same. For example, when the wheelchair is controlled to rotate left during the forward movement, the two groups of direct current motors need to be controlled to rotate forward at the same time, and the rotating speed of the motor on the front wheel on the right side of the wheelchair is greater than that of the motor on the front wheel on the left side. The wheelchair is controlled to rotate to the right during the forward movement, the rotation directions of the two groups of direct current motors are required to be controlled to rotate forwards at the same time, and the rotating speed of the motor on the front wheel on the left side of the wheelchair is larger than that of the motor on the front wheel on the right side of the wheelchair. In addition, the difference between the rotation speeds of the two sets of motors can determine the angle of the wheelchair.
The microphone should be arranged close to the mouth of the user as much as possible, so that the paralyzed person can blow the wheelchair only by light blowing at the mouth, and the paralyzed person can operate the wheelchair more easily without large-amplitude rotation of the head.
S2: acquiring the air blowing amount corresponding to each microphone; the blowing amount is obtained by filtering, shaping and converting a blowing signal sensed by a microphone;
in particular, the blowing signal is obtained by a user blowing against the microphone. When a user blows air towards the microphone, the microphone senses weak signals through air flow vibration to obtain blowing signals. The filtering and shaping comprises the steps of firstly filtering out direct current components in output signals of the microphone, then converting the output signals into a series of intermittent induction pulses through the characteristic of processing negative input signals by a voltage follower, and finally shaping the intermittent induction pulses into standard TTL signals by adopting a Schmitt trigger buffer or an inverter.
S3: and when the air blowing amount reaches a preset trigger condition, executing a trigger item corresponding to the microphone, and driving a corresponding direct current motor to act according to the trigger item.
Specifically, when the blowing amount reaches a preset triggering condition, it indicates that the microphone receives a strong enough blowing signal, and the user blows air towards the microphone, and at this time, a corresponding triggering event should be executed, for example, when the blowing signal received by the microphone for controlling the wheelchair to move forward is strong enough, the corresponding dc motor is driven to operate, and the wheelchair is controlled to move forward.
The control method obtains the air blowing amount obtained by induction conversion from air blowing of a user to the microphones, and identifies the air blowing amount obtained by induction conversion according to the air blowing amount obtained by induction conversion of each microphone so as to drive the corresponding direct current motor to act and further control the action of the wheelchair.
Example two:
the second embodiment is that on the basis of the first embodiment, the following contents are added:
and the blowing amount is the number of the intermittent induction pulse signals of the standard TTL (transistor-transistor logic) quasi-position obtained by filtering and shaping the blowing signals of the microphone.
Specifically, the blowing signals sensed by the microphone are converted into TTL pulse signal number, so that the judgment and the processing of a subsequent controller are facilitated.
Preferably, the trigger condition includes a long blow trigger lower limit and a short blow trigger lower limit;
the long-blowing trigger lower limit comprises a lower limit value of the number of continuous pulses in the intermittent induction pulse signal under the condition that a user blows a microphone for a long time;
the short-blowing trigger lower limit comprises a lower limit value of the number of continuous pulses in the intermittent induction pulse signal under the condition that a user short-blows a microphone;
the long blow trigger lower limit is greater than the short blow trigger lower limit.
Specifically, if the user blows air to the microphone for a long time, the number of the received continuous pulses after induction conversion is large, and when the user blows air for a short time, the number of the received continuous pulses after induction conversion is small. The long blow trigger lower limit is greater than the short blow trigger lower limit. The method can respectively control the wheelchair to execute different actions through long air blowing and short air blowing.
Preferably, the trigger event includes an action trigger event, a fine-tuning trigger event and a stop trigger event;
when the blowing amount reaches a preset trigger condition, executing a trigger event corresponding to the microphone specifically comprises:
when the air blowing amount reaches the lower limit of the long-blow trigger, executing action trigger items corresponding to the microphone, wherein the action trigger items comprise controlling the paralyzed person to assist in blowing and controlling the wheelchair to move forward, move backward, turn left or turn right;
specifically, when the method judges that the user blows air towards the microphone for a long time, the method controls the paralyzed person to assist in blowing the wheelchair to move forward, backward, turn left or turn right. When the air blowing amount reaches the lower limit of the long blowing trigger, the user is indicated to blow air towards the microphone for a long time. For example, when the user blows air for a long time towards a microphone for controlling the wheelchair to move forward, the wheelchair is controlled to move forward. If the user blows air for a long time towards a microphone for controlling the left turning of the wheelchair, the wheelchair is controlled to turn left.
When the blowing amount is less than the long-blow trigger lower limit and reaches the short-blow trigger lower limit in the moving state of the wheelchair, executing a stop trigger item corresponding to the microphone to control the paralyzed person to assist in blowing and controlling the wheelchair to stop.
When the paralyzed person assists to blow the microphone for controlling the left turn or the right turn of the wheelchair to obtain air blowing quantity reaching the short-blow triggering lower limit in the state that the wheelchair is stopped, the fine-tuning triggering item corresponding to the microphone is executed so as to finely tune the steering angle for assisting to blow and control the left turn or the right turn of the wheelchair for the paralyzed person.
Specifically, the method controls the paralyzed person to assist the blowing control wheelchair to stop moving when judging that the user blows air to any microphone for a short time during the advancing or retreating of the wheelchair. Or in the state that the wheelchair is stopped, short-blowing is carried out to a microphone representing left turning or right turning so as to finely adjust the turning angle of left turning or right turning of the wheelchair. In the step, when any microphone short-time air blowing is detected, the wheelchair can be controlled to stop or the left and right deflection angles of the wheelchair can be finely adjusted according to the current state of the wheelchair. And when the number of the continuous pulses in the air blowing quantity is less than the long blowing trigger lower limit and reaches the short blowing trigger lower limit, indicating that the user blows air to the microphone in a short time. For example: assuming that the lower limit of the long blow trigger is 100 and the lower limit of the short blow trigger is 50, when the number of continuous pulses in the air blowing amount is more than 100, the user blows air for a long time. When the number of continuous pulses in the air blowing amount is less than 100 and more than 50, the user blows air for a short time.
The method controls the direct current motor to execute different operations through long air blowing and short air blowing of a user, and the control method is simple and flexible.
For the sake of brief description, the method provided by the embodiment of the present invention may refer to the corresponding contents in the foregoing method embodiments.
Example three:
example three on the basis of other examples, the following contents are added:
referring to fig. 2, when the blowing amount reaches a preset trigger condition, executing a trigger event corresponding to the microphone specifically includes:
s11: when detecting that a blowing signal of the microphone has a standard TTL (transistor-transistor logic) level pulse after induction conversion, judging whether a counter is started;
specifically, the method counts TTL pulses existing in the air blowing amount.
S12: if the counter has started, the count of the counter is increased by 1;
s13: if the counter is not started, starting the counter to count, and setting the counter to be 1;
specifically, when detecting that the air blowing amount has a standard TTL level pulse, if the pulse is the first pulse, starting a counter to count, otherwise, increasing the counter by 1. When a user blows towards the microphone, after the blowing signal is converted into the TTL pulse signal, the counter can count the pulse number of the TTL pulse signal in real time and is used for judging whether the user blows and the duration time of the blowing.
S14: when a counting stop signal is detected after the blowing signal of the microphone is subjected to induction conversion, stopping counting by the counter, setting the numerical value of the counter as the blowing amount, and resetting the counter; the stop counting signal is continuously kept at a high level or a low level within a set time;
specifically, when the user does not blow air against the microphone, the signal output from the microphone is inductively converted and then kept at a high level or a low level. Therefore, when the fact that continuous high level or continuous low level in the air blowing amount exceeds the preset time is detected, the user stops blowing, counting is stopped at the moment, the data of the counter is the air blowing amount, and the larger the numerical value of the counter is, the longer the air blowing time of the user is. The smaller the value of the counter, the shorter the user's air-blowing time.
S15: and when the air blowing amount reaches a preset trigger condition, executing a trigger event corresponding to the microphone.
The method records the time length of the air blowing of the user through the counter, and the algorithm is simple.
For the sake of brief description, the method provided by the embodiment of the present invention may refer to the corresponding contents in the foregoing method embodiments.
Example four:
example four on the basis of other examples, the following are added:
referring to fig. 3, after the driving of the corresponding dc motor according to the trigger event, the method further includes:
s21: acquiring an output signal of an ultrasonic sensor; the ultrasonic sensor is arranged on the paralyzed person auxiliary blowing control wheelchair;
specifically, the ultrasonic sensor is used for detecting whether obstacles exist around the paralyzed person assisted blowing control wheelchair or whether the height and the fall of the current location of the paralyzed person assisted blowing control wheelchair are too large.
S22: when the output signal of the ultrasonic sensor meets the preset obstacle condition or height and fall condition, judging that obstacles exist around the paralyzed person assisted blowing control wheelchair or the height and fall of the current location of the paralyzed person assisted blowing control wheelchair is too large;
s23: and generating an alarm signal.
Specifically, if the ultrasonic wave detects that obstacles exist around the paralyzed person auxiliary blowing control wheelchair or the height drop of the current location of the paralyzed person auxiliary blowing control wheelchair is too large, a warning signal is generated to control the paralyzed person auxiliary blowing control wheelchair to stop the current movement, so as to remind a user of paying attention or giving an early warning. At this time, the wheelchair is not driven to move in the direction of an obstacle or a large height drop regardless of whether the user blows air to any of the microphones.
Preferably, the generating of the warning signal specifically includes:
the control device controls the start of a buzzer or a loudspeaker arranged on the paralyzed person auxiliary blowing control wheelchair and sends out a warning signal.
Specifically, when obstacles exist around the paralyzed person assisted blowing control wheelchair or the height drop of the current location of the paralyzed person assisted blowing control wheelchair is too large, the user can be reminded of paying attention through a buzzer or a loudspeaker, and the paralyzed person assisted blowing control wheelchair is controlled to stop moving at present.
When the blowing amount reaches a preset trigger condition, executing a trigger event corresponding to the microphone specifically comprises:
acquiring the air blowing amount of all the microphones, and identifying the microphone to which the maximum air blowing amount belongs;
and judging whether the maximum blowing amount reaches a preset triggering condition, and if so, executing triggering items corresponding to the microphone.
In particular, if a plurality of microphones are provided, when blowing, the microphones adjacent to each other also easily sense the blowing signal. Therefore, the method also carries out the processing of the blowing maximum discrimination algorithm, is used for reducing the interference of multi-microphone blowing identification, and further correctly judges the position of the induction blowing microphone. When the primary blowing judgment is carried out, the blowing amount of all the microphones is obtained, the microphone to which the maximum blowing amount belongs is identified, other microphones are considered to be adjacent disturbed microphones, and the microphones are not reckoned when software is processed. Referring to fig. 4, it is first determined whether there are standard TTL pulses after the blowing signal of each microphone is inductively converted, and if there are standard TTL pulses, each microphone counts the number of pulses, for example, when the user wants to blow a microphone a controlling the left turn of the wheelchair, but a microphone B and a microphone C adjacent to the microphone a receive the blowing signal, the microphone a, the microphone B and the microphone C start the corresponding counters to count respectively. When all the microphones no longer detect the input of the blowing signal, finding out the microphone with the largest count value from the counters corresponding to the microphones, for example: the user blows air towards the microphone A, the blowing signal sensed by the microphone A is the strongest, the converted blowing amount is the largest, and the converted blowing amounts of the adjacent microphones are all smaller than the blowing amount of the microphone A.
The method avoids the false induction of the adjacent microphone caused by air blowing, and reduces the interference of multi-microphone air blowing identification.
For the sake of brief description, the method provided by the embodiment of the present invention may refer to the corresponding contents in the foregoing method embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (6)
1. The control method based on the paralyzed person assisted blowing control of the wheelchair is characterized by comprising the following steps of:
presetting triggering items of each microphone; the triggering items comprise action states of two groups of direct current motors; the plurality of microphones are arranged on the auxiliary blowing control wheelchair for the paralyzed person; one group of direct current motors are arranged and connected to the front wheels on the left side of the paralyzer auxiliary blowing control wheelchair, and the other group of direct current motors are arranged and connected to the front wheels on the right side of the paralyzer auxiliary blowing control wheelchair;
acquiring the air blowing amount corresponding to each microphone; the blowing amount is obtained by filtering, shaping and converting a blowing signal sensed by a microphone;
when the air blowing amount reaches a preset trigger condition, executing a trigger item corresponding to the microphone, and driving a corresponding direct current motor to act according to the trigger item;
the blowing signal is obtained by a user blowing against the microphone;
the blowing amount is the number of intermittent induction pulse signals of a standard TTL (transistor-transistor logic) quasi-position obtained by filtering and shaping blowing signals induced by the microphone;
when the blowing amount reaches a preset trigger condition, executing a trigger event corresponding to the microphone specifically comprises:
when detecting that a blowing signal of the microphone has a standard TTL (transistor-transistor logic) level pulse after induction conversion, judging whether a counter is started;
if the counter has started, the count of the counter is increased by 1;
if the counter is not started, starting the counter to count, and setting the counter to be 1;
when a counting stop signal is detected after the blowing signal of the microphone is subjected to induction conversion, stopping counting by the counter, setting the numerical value of the counter as the blowing amount, and resetting the counter; the stop counting signal is continuously kept at a high level or a low level within a set time;
and when the air blowing amount reaches a preset trigger condition, executing a trigger event corresponding to the microphone.
2. The control method for assisting blow-control of wheelchair based on paralyzed person according to claim 1,
the triggering conditions comprise a long-blow triggering lower limit and a short-blow triggering lower limit;
the long-blowing trigger lower limit comprises a lower limit value of the number of continuous pulses in the intermittent induction pulse signal under the condition that a user blows a microphone for a long time;
the short-blowing trigger lower limit comprises a lower limit value of the number of continuous pulses in the intermittent induction pulse signal under the condition that a user short-blows a microphone;
the long blow trigger lower limit is greater than the short blow trigger lower limit.
3. The control method for assisting blow-control of wheelchair based on paralyzed person according to claim 2,
the trigger items comprise action trigger items, fine-tuning trigger items and stop trigger items;
when the blowing amount reaches a preset trigger condition, executing the trigger item corresponding to the microphone specifically comprises:
when the air blowing amount reaches the lower limit of the long-blow trigger, executing action trigger items corresponding to the microphone, wherein the action trigger items comprise controlling the paralyzed person to assist in blowing and controlling the wheelchair to move forward, move backward, turn left or turn right;
when the blowing amount is less than the long-blow trigger lower limit and reaches the short-blow trigger lower limit in the moving state of the wheelchair, executing a stop trigger item corresponding to the microphone to control a paralyzed person to assist in blowing and controlling the wheelchair to stop;
when the paralyzed person assists to blow the microphone for controlling the left turn or the right turn of the wheelchair to obtain air blowing quantity reaching the short-blow triggering lower limit in the state that the wheelchair is stopped, the fine-tuning triggering item corresponding to the microphone is executed so as to finely tune the steering angle for assisting to blow and control the left turn or the right turn of the wheelchair for the paralyzed person.
4. The control method for assisting a blowing control wheelchair based on a paralyzed person according to claim 1, wherein after the driving of the corresponding DC motor according to the triggering event, the method further comprises:
acquiring an output signal of an ultrasonic sensor; the ultrasonic sensor is arranged on the paralyzed person auxiliary blowing control wheelchair;
when the output signal of the ultrasonic sensor meets the preset obstacle condition or height and fall condition, judging that obstacles exist around the paralyzed person assisted blowing control wheelchair or the height and fall of the current location of the paralyzed person assisted blowing control wheelchair is too large; and further generates a warning signal to control the paralyzed person to assist the blowing control wheelchair to stop the current movement.
5. The control method based on paralyzer assisted blowing control of the wheelchair according to claim 4, wherein the generating of the warning signal specifically comprises:
the control device controls the start of a buzzer or a loudspeaker arranged on the paralyzed person auxiliary blowing control wheelchair and sends out a warning signal.
6. The control method for assisting the blowing control of the wheelchair based on the paralyzed person according to claim 1, wherein when the blowing amount reaches a preset trigger condition, executing a trigger event corresponding to the microphone specifically comprises:
acquiring the air blowing amount of all the microphones, and identifying the microphone to which the maximum air blowing amount belongs;
and judging whether the maximum blowing amount reaches a preset triggering condition, and if so, executing triggering items corresponding to the microphone.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7739061B2 (en) * | 1999-02-12 | 2010-06-15 | Pierre Bonnat | Method and system for controlling a user interface of a device using human breath |
| CN101149601A (en) * | 2006-09-22 | 2008-03-26 | 中国科学院自动化研究所 | Intelligent interactive device based on moving body action and detection method of action position |
| CN101572536A (en) * | 2008-04-28 | 2009-11-04 | 凌通科技股份有限公司 | Air blowing sensing circuit and control system using same |
| JP2012524596A (en) * | 2009-04-23 | 2012-10-18 | イエダ リサーチ アンド デベロップメント カンパニー リミテッド | Nasal flow device controller |
| CN202136503U (en) * | 2011-07-01 | 2012-02-08 | 山东科技大学 | Voice controlled obstacle-avoidance wheelchair |
| US20160007911A1 (en) * | 2014-07-14 | 2016-01-14 | Htc Corporation | Breathing guidance system and method having active biofeedback mechanism |
| CN205787681U (en) * | 2016-02-14 | 2016-12-07 | 刘洋 | Air blowing control system |
| CN106653060B (en) * | 2017-01-11 | 2020-05-12 | 瑞声声学科技(深圳)有限公司 | Air blowing sound recognition system and air blowing recognition method using the same |
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