A kind of analog simulation wheelchair and its working methodTechnical field
The invention belongs to the field of medical instrument technology, in particular to a kind of analog simulation wheelchair.The invention further relates to one kindThe working method of analog simulation wheelchair.
Background technique
Wheelchair is the important tool of rehabilitation, it is not only the walking-replacing tool of limbs the disabled and people with mobility problems with wheelchair,Them are more importantly made to carry out physical exercise by means of wheelchair and participate in social activities.Common wheelchair is generally by wheelchair frame, vehicleWheel, brake gear and seat against four parts composition.
For vast wheelchair production firm, in order to improve the competitiveness for the wheelchair that design produces, need often to joinWhen adding exhibition or client to come company to discuss business, into present customers oneself company, the quality of wheelchair, can simply pass throughClient directly takes wheelchair actual use and experiences, but since corporate campus is limited, when especially participating in exhibition, place moneySource is especially in short supply, how under the limited place resources supplIes of exhibition or company show wheelchair over-all properties it is particularly important,Wheelchair is likely encountered the section of the various situations such as upward slope, descending, meadow, hollow miriness in client's use process, but in public affairsDepartment inside can not provide such place and be shown, and especially in exhibition, unlikely have such condition to open up completelyShow the performance of wheelchair, therefore, how to provide a set of wheelchair that can show wheelchair over-all properties completely is asking for the application solutionTopic.
Summary of the invention
Goal of the invention: in order to overcome the above deficiency, the object of the present invention is to provide a kind of analog simulation wheelchair, solve asWhat carries out the problem of showing wheelchair performance comprehensively to client.The present invention also provides a kind of working method of analog simulation wheelchair, behaviourMake simply, to simulate the movement track of true wheelchair, stable and reliable operation completely.
Technical solution: a kind of analog simulation wheelchair, including wheelchair, six degree of freedom platform, face capture camera, projectorCurtain, support frame, one group of speed probe, electric cabinet, projector and hand-held remote control unit, the wheelchair are arranged in six degree of freedomOn the upper surface of platform, the electric cabinet is arranged on six degree of freedom platform, and the wheel of wheelchair is arranged in the speed probeOn, the front of the wheelchair is equipped with projector's curtain, and on the support frame, projector's setting exists for projector's curtain settingThe front of projector's curtain, and projector can project image on projector's curtain, and the face captures camera setting and existsThe top of projector's curtain, and the pickup area of face capture camera is set as wheelchair region, and the hand-held is distantIt is communicated wirelessly between control device and electric cabinet.The present invention, on computers by simulation software, is established by analog simulation wheelchairMultiple scenes of artificial life and work, are projected in projector's curtain by projector, people is sitting on wheelchair, the throwing that front facesLiving scene is shown on shadow machine curtain, special scenes, such as selection park is entered according to operator's selection, on projector's curtainShow the figure of emulation, operator's rotation at this time rotates wheelchair handwheel as normal use, and speed probe detects respectivelyThe traveling of wheelchair is mapped in the scene of emulation, as people is really sitting in wheelchair by the revolving speed of two runners of wheelchair according to revolving speedOn, it is movable in park, simultaneously because in park road surface may be uneven or encounter upward slope, descending situations such as, six fromThe concrete condition on road surface advanced in the scene by degree platform according to emulation wheelchair, six electric cylinders carry out different stretching orThe activity of withdrawal, so that build the wheelchair being arranged on six degree of freedom platform will appear up and down when driving on road surfaceIt jolts, in conjunction with the scene on projector's curtain, wheelchair is travelled like staying in true environment, then face is cooperated to capture camera,It captures human face to turn to, when face is turned left, the visual angle in simulating scenes is also turned left, and is turned right similarly, therefore greatly increaseTrue experience sense, this emulation wheelchair can in a limited space, and being not required to practical movement wheelchair can be to user's displaying wheelchairRepertoire, more true experience can be provided as wheelchair client, exhibition is particularly suitable for or company shows that publicity producesIt is used when product.
Further, above-mentioned analog simulation wheelchair, the six degree of freedom platform include one group of servo motor, one group it is electronicCylinder, upper mounting plate and lower bottom base, the servo motor are connect with electric cylinder, the upper end of the electric cylinder and the lower end surface of upper mounting plateHingedly, and the lower end of electric cylinder and the upper surface of lower bottom base are hinged, and the middle position of lower bottom base is arranged in the electric cabinet.Six servo motors control electric cylinder stretching according to program setting respectively or withdraw, therefore upper mounting plate can show various anglesInclination so that the operator that is sitting on wheelchair when driving of emulation wheelchair can tilt with the inclination of platform, likeWheelchair is travelled on true road surface.
Further, above-mentioned analog simulation wheelchair is equipped with organ type protective cover, institute between the upper mounting plate and lower bottom baseThe upper end for stating organ type protective cover is fixed on the outer wall of upper mounting plate, and the lower end of organ type protective cover is fixed on bottomOn the outer wall of seat.Servo motor, electric cylinder, electric cabinet and electric wire can be provide with completely by the organ type protective cover of setting, outsideShape is beautiful.
Further, above-mentioned analog simulation wheelchair, the upper mounting plate are equipped with wheelchair support plate, and institute's wheelchair is erected at wheelIn chair support plate, the wheelchair support plate is equipped with groove, and the number of recesses is 2, and groove is arranged in wheel chair wheelLower section.Wheelchair vacantly is set up, especially the wheel of wheelchair, operator is enabled to rotate wheel chair wheel, emulation wheelChair really pushes, and improves experience sense.
Further, the chair back of above-mentioned analog simulation wheelchair, the wheelchair is equipped with safety belt.The safety belt of setting is kept awayWhen exempting to emulate the biggish slope of tilt angle, operator falls down from seat causes danger, while this emulation wheelchair also canExperiencer is allowed to experience the traveling of hazardous environment, in real experiences wheelchair, it is impossible to the traveling on dangerous road surface is carried out, in order to avoid causePersonal injury, but emulate wheelchair and completely solve this problem, it will not be fallen down on wheelchair completely by safety belt people, togetherWhen allow experiencer to experience the approximate truth of dangerous situation, while enhance wheelchair user safety traffic consciousness.
Further, the lower section of above-mentioned analog simulation wheelchair, the wheelchair is equipped with scissors mechanism.To present customers processIn, experiencer has the difference of height, in order to meet requirement of the height personnel for projector's curtain different height, so as toBest angle checks the scene of emulation, and the scissors mechanism of setting can adjust wheelchair height.
Further, above-mentioned analog simulation wheelchair, the section of projector's curtain are arc.The arc of setting, makesSimulating scenes authenticity is obtained to improve.
Further, above-mentioned analog simulation wheelchair, the electric cabinet is interior to be equipped with one group of servo-driver, servo motion controlFabrication, industrial personal computer and controller, the servo control card are connected with servo-driver, the servo control card and controlDevice connection processed, the controller are connected with industrial personal computer.The servo-driver for the control six degree of freedom platform being arranged in electric cabinet,Servo control card, industrial personal computer and controller can guarantee that six degree of freedom platform stable is efficiently run.
The present invention also provides a kind of working methods of analog simulation wheelchair, comprising the following steps:
1) electric cabinet powers on, and projector projects on projector's curtain；
2) face captures camera starting and captures human face；
3) the projection interface of hand-held remote control unit selection projector selects the scene of wheelchair activities, and determines and enter scene；
4) operator being sitting on wheelchair rotates the handwheel of wheelchair, the vehicle wheel rotation of wheelchair, and speed probe acquires wheelchair twoThe revolving speed of a wheel, and feed back to controller；
5) industrial personal computer receives the signal of controller, and controller sends out signal according to the wheelchair activities scene set in industrial personal computerGive servo control card；
6) servo control card sends the signal to servo-driver, servo driver drives servo motor rotation, to controlElectric cylinder processed is stretched out or is withdrawn；
7) activity according to 6 electric cylinders is different, analog jolting when various road surfaces push wheelchair；
8) controller is according to the difference of the revolving speed of the speed probe acquisition on two wheels of wheelchair, by the conversion of industrial personal computer,The rotation of wheelchair is formed in scene on projector's curtain；
9) face captures camera and captures face steering, data-signal is fed back to industrial personal computer, on projector's curtain in sceneRotation direction observes the scene of the different angle of wheelchair two sides.
A kind of working method of above-mentioned analog simulation wheelchair, further comprising the steps of:
10) operator is sitting on wheelchair, and safety belt is fastened；
11) control button that scissors mechanism is pressed on hand-held remote control unit adjusts the elongation or withdrawal of scissors mechanism, to adjustThe height of seat of whole wheelchair.
Above-mentioned technical proposal can be seen that the invention has the following beneficial effects: analog simulation wheelchair of the present invention,Its is reasonable in design, is readily produced.The simulated effect of analog simulation wheelchair is good, and experiencer can be allowed to experience in various situationsThe scene of wheelchair is travelled, the simulating scenes of existing vision cooperate actual wheelchair simultaneously, and with the true operation of wheelchair, logicalThe six degree of freedom platform for crossing setting can emulate wheelchair jolting when driving, reach optimal body in terms of vision and movement twoIt tests, client can be allowed to fully understand the actual performance of wheelchair, this emulation wheelchair being capable of the optimal traveling to present customers wheelchairPerformance.
Detailed description of the invention
Fig. 1 is the overall structure diagram of analog simulation wheelchair of the present invention；
Fig. 2 is the overall structure diagram one of analog simulation wheelchair of the present invention；
Fig. 3 is the schematic diagram of internal structure of analog simulation wheelchair of the present invention；
Fig. 4 is the connection relationship diagram of the major control element of analog simulation wheelchair of the present invention.
In figure: wheelchair 1, six degree of freedom platform 2, servo motor 21, electric cylinder 22, upper mounting plate 23, lower bottom base 24, face are caughtCatch camera 3, projector's curtain 4, support frame 5, speed probe 6, electric cabinet 7, servo-driver 71, servo control card72, industrial personal computer 73, controller 74, projector 8, hand-held remote control unit 100, organ type protective cover 9, wheelchair support plate 10, groove101, safety belt 11, scissors mechanism 12.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to endSame or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attachedThe embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width "," thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", " clockwise ", " inverseThe orientation or positional relationship of the instructions such as hour hands " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description originallyInvention and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific sidePosition construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importanceOr implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed orImplicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is twoIt is a or more than two, unless otherwise restricted clearly.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machineTool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediaryConnection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may beConcrete meaning in bright.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through itBetween other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature existsSecond feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative ofFirst feature horizontal height is less than second feature.
Embodiment
Analog simulation wheelchair as shown in Figs 1-4, including wheelchair 1, six degree of freedom platform 2, face capture camera 3, throwShadow machine curtain 4,5, one groups of speed probes 6 of support frame, electric cabinet 7, projector 8 and hand-held remote control unit 100, the wheelchair 1It is arranged on the upper surface of six degree of freedom platform 2, the electric cabinet 7 is arranged on six degree of freedom platform 2, the speed probe6 are arranged on the wheel of wheelchair 1, and the front of the wheelchair 1 is equipped with projector's curtain 4, and the setting of projector's curtain 4 is supportingOn frame 5, the front of projector's curtain 4 is arranged in the projector 8, and projector 8 can project figure on projector's curtain 4Picture, the face captures the top that projector's curtain 4 is arranged in camera 3, and the pickup area of face capture camera 3 is setIt is set to 1 region of wheelchair, is communicated wirelessly between the hand-held remote control unit 100 and electric cabinet 7.Preferably, projectorThe section of curtain 4 is arc, and projector's curtain 4 of arcuate structure forms a kind of by wheelchair 1 and the operator's shape being sitting on wheelchair 1At a kind of circular Sensurround, when such operator pushes wheelchair, the mobile scene of wheelchair, body are shown on projector's curtain 4 simultaneouslyThe sense of reality tested greatly improves.Wherein, six degree of freedom platform 2 includes one group of servo motor 21, one groups of electric cylinders 22, upper mounting plates 23With lower bottom base 24, the servo motor 21 is connect with electric cylinder 22, the upper end of the electric cylinder 22 and the lower end of upper mounting plate 23Face is hinged, and the lower end of electric cylinder 22 and the upper surface of lower bottom base 24 are hinged, and lower bottom base 24 is arranged in the electric cabinet 7Middle position.The electric-control system of six degree of freedom platform is that one group of servo-driver 71, servo control are equipped in electric cabinet 7Card 72, industrial personal computer 73 and controller 74, the servo control card 72 and servo-driver 71 connect, the servo motion controlFabrication 72 and controller 74 connect, and the controller 74 and industrial personal computer 73 connect.
In addition, being equipped with organ type protective cover 9, the wind between upper mounting plate 23 and lower bottom base 24 to keep gestalt appearanceThe upper end of qin formula shield 9 is fixed on the outer wall of upper mounting plate 23, and the lower end of organ type protective cover 9 is fixed on bottomOn the outer wall of seat 24.The outside that the more six degree of freedom platform 2 of harness is arranged is provide with by organ type protective cover 9, and electric wire is completePortion concentrates in six degree of freedom platform 2.
Again, for the authenticity that operator experiences promotion wheelchair, by 1 integrated hanging of wheelchair, specific and structure is upper flatPlatform 23 is equipped with wheelchair support plate 10, and institute's wheelchair 1 is erected in wheelchair support plate 10, and the wheelchair support plate 10 is equipped with groove101,101 quantity of groove is 2, and the lower section of 1 wheel of wheelchair is arranged in groove 101.
The analog simulation wheelchair of the application can the biggish abrupt slope of design grade, operator push wheelchair in projector's curtain 4Wheelchair is pushed on the abrupt slope of upper virtual scene, six degree of freedom platform 2 is acted according to the specific gradient, the behaviour being sitting on wheelchair 1Author may lean forward, and in order to guarantee safety, prevent forward leaning angle from crossing ambassador operator and fall down from wheelchair 1, in the chair of wheelchair 1Back is equipped with safety belt 11.Further, since different operator's height is different, in order to make operator be in projector's curtain 4Optimum experience angle is equipped with scissors mechanism 12 in the lower section of wheelchair 1, and the lifting of scissors mechanism 12 passes through hand-held remote control unit100 controls, facilitate operator that height is adjusted flexibly.
On the basis of above structure feature, a kind of working method of analog simulation wheelchair, comprising the following steps:
1) electric cabinet 7 powers on, and projector 8 projects on projector's curtain 4；
2) face captures the starting of camera 3 and captures human face；
3) hand-held remote control unit 100 selects the projection interface of projector 8, selects the movable scene of wheelchair 1, and determine and enter fieldScape；
4) operator being sitting on wheelchair 1 rotates the handwheel of wheelchair 1, the vehicle wheel rotation of wheelchair 1,6 collection wheel of speed probeThe revolving speed of 1 two wheels of chair, and feed back to controller 74；
5) industrial personal computer 73 receives the signal of controller 74, and controller 74 is according to the wheelchair activities scene set in industrial personal computer 73Send a signal to servo control card 72；
6) servo control card 72 sends the signal to servo-driver 71, and servo-driver 71 drives 21 turns of servo motorIt is dynamic, it stretches out or withdraws to control electric cylinder 22；
7) activity according to 6 electric cylinders 22 is different, analog jolting when various road surfaces push wheelchair 1；
8) difference for the revolving speed that controller 74 is acquired according to the speed probe 6 on 1 two wheels of wheelchair, by industrial personal computer 73Conversion forms the rotation of wheelchair 1 on projector's curtain 4 in scene；
9) face captures camera 3 and captures facial steering, and data-signal is fed back to industrial personal computer 73, is entered the court in projector's curtain 4Rotation direction in scape observes the scene of the different angle of 1 two sides of wheelchair.
In order to guarantee the safety of operator, while the optimal viewing angle that operator is in projector's curtain 4 is improved, also wrappedInclude following steps:
10) operator is sitting on wheelchair 1, and safety belt 11 is fastened；
11) control button of scissors mechanism 12 is pressed on hand-held remote control unit 100, adjusts the elongation or receipts of scissors mechanism 12It returns, so as to adjust the height of seat of wheelchair 1.
The analog simulation wheelchair of the application establishes out various scene, such as in people's life by virtual emulationA variety of situations such as road, park, bumpy road, the wheel velocity of wheelchair 1 is acquired by speed probe 6, and signal is fed backTo industrial personal computer, industrial personal computer obtains tach signal, in conjunction with the information of road surface data of the virtual scene of software set in industrial personal computer, controlSix degree of freedom platform 2 carries out lifting action, so that the wheelchair 1 being arranged on six degree of freedom platform is with movable together, behaviourAuthor is sitting on wheelchair 1 and rotates wheelchair, in conjunction with activity and the virtual emulation scene in front of six degree of freedom platform 2, builds bodyThe person of testing really pushes the process of wheelchair.This analog simulation wheelchair can also allow experiencer to experience the larger road traveling wheelchair of the gradientFeel.This emulation wheelchair cannot only be used in the show-and-tell platform of exhibition or company, design wheelchair in wheelchair manufacturerIn the process, can also be by the traveling of this emulation wheelchair simulating realistic wheelchair, it can be by this equipment test wheelchair on dangerous road surfaceWhether safety measure when driving, which can really play, is protected handicapped people, this emulation wheelchair can be used for detecting practical lifeThe performance for producing wheelchair, provides true reference value, and the design of wheelchair is improved for research staff, improves the safety of wheelchair and comfortableProperty.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the artFor member, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as of the inventionProtection scope.