The Research On Interactive Control Of Mobile Robot For The Elders And The Disabled

As the medical technology and scientific research level of breakthrough,intelligent helpage assistive mobile service robot for disabled people with disabilities provides a convenient travel.For the elderly,especially disabled people in the use of a wheelchair,wheelchair to human-computer interaction design is extremely critical.Gesture interaction of real-time,stability and learnability profoundly affect the user experience.In this paper,starting from the problem to design a device camera based on intelligent mobile wheelchair use gesture interaction control method for reliable,real-time control the operation of the wheelchair with hand motions.In this paper,the main research contents and results are as follows:(1)Based on the basic theory and method of gesture recognition technology,in the design of the hardware structure of the experimental platform and the design of wheelchair driving control.Firstly,the user gesture interaction to analyze the requirements,then the demand for the class to design a virtual handle gesture interaction method,this method simulates the entity control link,in the different space position given corresponding action speed and angle data in hand,and through the graphical interface,real-time display of the virtual manipulation process.(2)In the first step of gesture interaction control,the Kinect camera is used to study the problem of hand gesture segmentation and gesture tracking.In the part of hand gesture segmentation,the method of hand gesture segmentation based on depth information and skin color information is analyzed and the experiment is carried out based on the deficiency of Gauss skin color model.The tracking algorithm based on Camshift algorithm and Kalman filter is used to obtain the position information of the palm in the dynamic video image.(3)In the second step gesture interactive control,gesture space coordinate transformation and virtual handle mechanism set,in the application of fuzzy control for position control work to handle virtual coordinates,the fuzzy control of demand analysis,and the fuzzy controller in the design of the system.(4)Build intelligent mobile wheelchair experimental platform,interactive control experiments on different practical scenarios of intelligent wheelchair gestures,analysis of various test results ondetection,gesture interaction control method in safety,stability and smoothness can meet the design requirements.The experiment proves that the intelligent wheelchair can meet the requirements of the operation by fuzzy position control.