本文選題：智能移動(dòng)輪椅 + 手勢(shì)交互��； 參考：《南京郵電大學(xué)》2017年碩士論文

【摘要】：隨著醫(yī)療技術(shù)與科研水平的突破,智能助老助殘移動(dòng)服務(wù)機(jī)器人為行動(dòng)不便的殘障人士提供了出行上的便利。對(duì)于老年人尤其是殘障人士在使用輪椅時(shí),輪椅的人機(jī)交互設(shè)計(jì)就顯得十分之關(guān)鍵。手勢(shì)交互的實(shí)時(shí)性、穩(wěn)定性與易學(xué)性深刻地影響到用戶的使用體驗(yàn)。本文從這個(gè)問題出發(fā)設(shè)計(jì)出一種基于Kinect攝像頭的在智能移動(dòng)輪椅上使用的手勢(shì)交互控制方法以用來可靠、實(shí)時(shí)地用手部動(dòng)作控制輪椅運(yùn)行。本文的主要研究?jī)?nèi)容與成果如下:(1)依據(jù)手勢(shì)識(shí)別技術(shù)的基礎(chǔ)理論與方法,在實(shí)驗(yàn)平臺(tái)的硬件結(jié)構(gòu)框架設(shè)計(jì)與輪椅驅(qū)動(dòng)控制設(shè)計(jì)背景下,首先對(duì)用戶的手勢(shì)交互展開需求分析工作,其次以需求為綱設(shè)計(jì)出一種虛擬手柄手勢(shì)交互方法,此方法模擬了實(shí)體的操縱連桿,在手部處于不同空間位置時(shí)給定相應(yīng)的行動(dòng)速度和轉(zhuǎn)角數(shù)據(jù),同時(shí)虛擬手柄的控制過程使用了圖形化界面進(jìn)行的實(shí)時(shí)顯示。(2)在手勢(shì)交互控制環(huán)節(jié)的第一步,應(yīng)用Kinect攝像頭對(duì)手勢(shì)分割與手勢(shì)跟蹤問題進(jìn)行了研究。在手勢(shì)分割部分,分析基于高斯膚色模型手勢(shì)分割方法的不足,設(shè)計(jì)出基于深度信息與膚色信息分割手勢(shì)的方法且進(jìn)行實(shí)驗(yàn)。手勢(shì)跟蹤環(huán)節(jié)使用Camshift算法與Kalman濾波兩者結(jié)合的跟蹤算法,收集視頻圖像中的手部坐標(biāo)位置效果良好。(3)在手勢(shì)交互控制環(huán)節(jié)的第二步,先進(jìn)行實(shí)現(xiàn)手勢(shì)空間坐標(biāo)轉(zhuǎn)換與虛擬手柄機(jī)制設(shè)定工作;然后對(duì)本手勢(shì)交互控制系統(tǒng)進(jìn)行模糊控制需求分析、進(jìn)行模糊控制器設(shè)計(jì)。完成應(yīng)用模糊控制對(duì)虛擬手柄進(jìn)行坐標(biāo)置位控制的工作。(4)搭建智能移動(dòng)輪椅實(shí)驗(yàn)平臺(tái),在不同實(shí)際場(chǎng)景下進(jìn)行手勢(shì)獲取干擾性實(shí)驗(yàn)和手勢(shì)控制智能輪椅按指定路線運(yùn)行的實(shí)驗(yàn)。重點(diǎn)分析各類測(cè)試結(jié)果,檢測(cè)手勢(shì)交互控制方法在穩(wěn)定性和平滑性是否滿足設(shè)計(jì)要求。通過實(shí)驗(yàn)證明智能輪椅經(jīng)模糊置位控制在運(yùn)行平滑性和按指定路線運(yùn)行能力上基本達(dá)到要求。
[Abstract]:With the breakthrough of medical technology and scientific research, the mobile robot provides mobility convenience for the disabled. When the elderly, especially the disabled, use wheelchairs, the man-machine interaction design of wheelchairs is very important. The real-time, stability and easiness of gesture interaction deeply affect the user's experience. In this paper, a Kinect camera based hand gesture interactive control method for intelligent mobile wheelchair is designed to control the wheelchair in real time and reliably. The main contents and results of this paper are as follows: (1) based on the basic theory and method of gesture recognition technology, under the background of hardware frame design and wheelchair drive control design of the experimental platform, First, the user's gesture interaction is analyzed, and then a virtual handle gesture interaction method is designed based on the requirements. This method simulates the control link of the entity. When the hand is in different space position, the corresponding speed and angle data are given, and the control process of the virtual handle uses the real-time display of the graphical interface. Kinect camera is used to study gesture segmentation and gesture tracking. In the part of hand gesture segmentation, the deficiency of gesture segmentation method based on Gao Si skin color model is analyzed, and the method based on depth information and skin color information is designed and tested. In hand gesture tracking, the tracking algorithm which combines Camshift algorithm and Kalman filter is used to collect the hand coordinate position in video image with good effect. Firstly, the spatial coordinate transformation of gesture and the setting of virtual handle mechanism are carried out, and then the fuzzy control requirement of the gesture interactive control system is analyzed, and the fuzzy controller is designed. The experiment platform of intelligent mobile wheelchair is constructed by using fuzzy control to control the coordinate position of the virtual handle. The experiments of gesture acquisition interference and gesture control intelligent wheelchair running according to the specified route are carried out in different actual scenes. Analysis of all kinds of test results to detect the stability and smoothness of gesture interaction control methods meet the design requirements. It is proved by experiments that the running smoothness and the ability of running according to the specified route can be basically achieved by the fuzzy position control of the intelligent wheelchair.
【學(xué)位授予單位】：南京郵電大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP391.41;TP242

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