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Development of Computer Algorithms to Control a Weelchair
through the Movement of the Head by Artificial Vision
Ricardo Fuentes Covarrubias
1
, Andrés Gerardo Fuentes Covarrubias
1
, Cristina Conde Vilda
2
,
Isaac Martin de Diego
2
and Enrique Cabello
2
1
Facultad de Ingeniería Mecánica y Eléctrica, Universidad de Colima, Coquimatlán, Colima, C.P. 28440, Mexico
2
Universidad Rey Juan Carlos (URJC), Escuela Técnica Superior de Ingeniería Informática,
Tulipán s/n, Mostoles, Madrid, C.P. 62490, Spain
Keywords: Biometry, Machine Vision, Automatic Recognition.
Abstract: The Purpose of this project is the control of motion and direction in real time of a wheel chair, using
machine vision algorithms. The main goal of this project is the signal acquisition from the video camera and
collision sensors for post processing in the C# algorithms and later obtaining motor control in the traction
mechanism of the wheelchair. The C# algorithm has several tasks. The first is to obtain the real time image
from web cam and later processing for the identification of the direction of movement of the human face.
The second is to calculate the speed of the movement for generation of the PWM output for motor
movement. This information output using the RS232C driver to a microcontroller card attached to a motor
control box in the wheel chair mechanism. The final task is to obtain the collision sensor status for security
implementation, all in real time. The main reason for development of an implementation of this solution is
the use of open source software tools for a more stable platform in the base system due to the characteristics
of the end use of the system. The end user of the system will be quadriplegic people.
1 INTRODUCTION
This project integrates a solution aimed at
controlling a wheelchair by moving the face, using
artificial vision techniques and voice command. This
article only describes the vision module, and details
its main components.
2 STATE OF THE ART
Tracking and measuring drivers’ eyes published by
David Tock and Ian Craw, describing a system of
support for driving an automobile by means of the
movement of the eyes.
Tracking moving heads--processed by Larry S.
Shapiro, Michael Brady, and Andrew Zisserman.
This work describes the design of computational
algorithms to detect movement of the head using
three-dimensional analysis of images.
Control of visually guided behaviors by Jana
Kosecka, Ruzena Bajcsy, and Max Mintz. This
includes/understands the design of a scheme of
guidance for a robot from adjustments of infrared
sensors that detect the shift of position of objects
that comprise a scene and is analyzed based on the
analysis of the system of coordinates of the real
world.
Active exploration of dynamic and static scenes
written by David W. Murray, Ian D. Reid, Kevin J.
Bradshaw, Phillip F. McLauchlan, Paul M. Sharkey,
and Stuart M. Fairley. This describes a technique to
recover in real time the trajectories of sprites which
move on a plane in a scene. The detection of
movement and its segmentation are made in each
scene in time, having compared the changes of
scenes.
Magic Environment by Luis Figueiredo, Tiago
Nunes, Filipe Caetano. With the developed
application of environment control, the authors
intend to provide the user with a simple and
configurable tool according to his or her needs,
involving low cost hardware that enables the control
of any infrared device or any electric device
connected to a radio frequency receiver. A function
can be associated to each button in order to control
an infrared device, an electric device, or both. The
only thing that an eye gaze user will have to do is
select the communication picture button whose
function he or she intends to activate.
62
Fuentes Covarrubias R., Fuentes Covarrubias A., Conde Vilda C., Martin de Diego I. and Cabello E..
Development of Computer Algorithms to Control a Weelchair through the Movement of the Head by Artificial Vision.
DOI: 10.5220/0004073900620067
In Proceedings of the International Conference on Signal Processing and Multimedia Applications and Wireless Information Networks and Systems
(SIGMAP-2012), pages 62-67
ISBN: 978-989-8565-25-9
Copyright
c
2012 SCITEPRESS (Science and Technology Publications, Lda.)