CN105433909B - The inspection of vestibular equilibrium function, rescues equipment at acclimatization - Google Patents
The inspection of vestibular equilibrium function, rescues equipment at acclimatization Download PDFInfo
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- CN105433909B CN105433909B CN201511019797.0A CN201511019797A CN105433909B CN 105433909 B CN105433909 B CN 105433909B CN 201511019797 A CN201511019797 A CN 201511019797A CN 105433909 B CN105433909 B CN 105433909B
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- acclimatization
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/40—Detecting, measuring or recording for evaluating the nervous system
- A61B5/4005—Detecting, measuring or recording for evaluating the nervous system for evaluating the sensory system
- A61B5/4023—Evaluating sense of balance
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/113—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for determining or recording eye movement
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4848—Monitoring or testing the effects of treatment, e.g. of medication
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B26/00—Exercising apparatus not covered by groups A63B1/00 - A63B25/00
- A63B26/003—Exercising apparatus not covered by groups A63B1/00 - A63B25/00 for improving balance or equilibrium
Abstract
The invention discloses a kind of vestibular equilibrium function inspection, acclimatization, rescue equipment, machinery and power servo, autonomous control system, 3 D stereo what comes into a driver's Real-time Simulation System and the medicine physiologic signal monitoring record system being electrically connected to each other including operation control system and with it.The vestibular equilibrium function inspection of the present invention, rescues equipment at acclimatization, the three-dimensional rotation system of control can be quantified by establishing, three pairs of three-dimensional compound motion, stimulation vestibular semicircular canals can be carried out at the same time, simultaneously can also carry out the bio-signal acquisitions such as electronystagmograph, with reach to check acclimatization rescue object carry out vestibular function comprehensive assessment, improve its vestibular balance and orientating function, the efficiency for rescuing motion sickness.
Description
Technical field
The present invention relates to medical treatment, aerospace medicine, physical function acclimatization and rehabilitation equipment technical fields more particularly to one
The inspection of kind vestibular equilibrium function, rescues equipment at acclimatization.
Background technology
With the development of China's aerospace medicine, there is motion sickness and spatial disorientation person is more and more, in order to pre-
Anti- and the such spatial disorientation of diagnosis and treatment and motion sickness, spy develop this vestibular function examination, acclimatization, rescue equipment.
Total balance of the body system includes vestibular balance system, vision system and proprioceptive system, due to vestibular balance system
The dizziness that imbalance induces refers in particular to vascular vertigo.
Vascular vertigo：Lesion involves cochleovestibular peripheral organs, such as Meniere disease, and benign paroxysmal positional is dizzy
Dizzy, with the sudden deafness of dizziness, vestibular drug poisoning, suppurative labyrinthitis, alternobaric vertigo, vestibular labyrinth is shaken, preceding
Front yard neuronitis, Hunt`s syndromes, delayed endolymphatic hydrops, large vestibular aqueduct syndrome, canalis semicircularis anterior split syndrome,
Dizziness caused by motion sickness etc..
Motion sickness, vestibular balance and spatial disorientation there is no special and accurately check, acclimatization and rescue means at present,
Thus research and develop this equipment, with reach to check acclimatization rescue object carry out vestibular function comprehensive assessment, improve its vestibular balance
And orientating function, the efficiency for rescuing motion sickness.
Invention content
The technical problem to be solved by the invention is to provide a kind of vestibular equilibrium function inspection, acclimatization, equipment is rescued, built
The vertical three-dimensional rotation system that can quantify control can be carried out at the same time three pairs of three-dimensional compound motion, stimulation vestibular semicircular canals, while may be used also
The bio-signal acquisitions such as Electronystagmogram are carried out, check that acclimatization rescues the comprehensive assessment of object vestibular function, raising vestibular is determined to meet
To the needs of function and anti-motion sickness ability.
In order to achieve the above object, the present invention includes operation control system and the machinery being electrically connected to each other with it and moves
Force servo system, autonomous control system, 3 D stereo what comes into a driver's Real-time Simulation System and medicine physiologic signal monitoring record system,
In：
The machinery and power servo rescue platform including acclimatization, and the acclimatization rescues platform and includes practising for carrying inspection
It takes the acclimatization rescued object and be fixed in two orthogonal rotary shafts and rescues cabin.
Preferably, the operation control system is configured to by sending instruction form closed loop control to power servo
System, and the acclimatization is controlled to rescue the action in cabin, the operation control system is rescued platform with the acclimatization and is electrically connected to control
Acclimatization is stated to rescue platform and receive its feedback information；
The autonomous control system is configured so as to check that acclimatization rescues object and can voluntarily control institute by joystick
It states acclimatization and rescues the rotation that cabin carries out any angle, arbitrary speed, arbitrary acceleration；
The 3 D stereo what comes into a driver's Real-time Simulation System be configured to the operation control system combined network communication, including setting
The three-dimensional display screen in cabin is rescued in the acclimatization, which is configured in the linkage with the operation control system
Under, it is synchronized with the acclimatization and rescues cabin acceleration and rotary speed real-time display three-dimensional motion video scene；
Medicine physiologic signal monitoring record system, which includes being set to the acclimatization, rescues cabin for detecting and recording inspection
It looks into acclimatization and rescues the various physiologic information indexs of object and the physiological information detecting equipment for transmitting it to the console.
Include being equipped with the first supporting rack with the fixed rack in ground, the rack preferably, the acclimatization rescues platform
With the second supporting rack, the first supporting rack support acclimatization is rescued cabin and is rotated around a rotary shaft, second supporting rack
The acclimatization is supported to rescue cabin to rotate around another rotary shaft.
Preferably, the operation control system is electrically connected to rescue platform to the acclimatization including rescuing platform with the acclimatization
The operation console of operations is carried out, the operation console includes editing the vestibular equilibrium function inspection, acclimatization, rescuing equipment
Operating scheme and the control terminal for issuing instruction, the program and instruction are sent to by the control terminal to be set to the acclimatization and rescues platform
The bottom controller of side, the bottom controller pass respectively with rotary shaft motion drive, autonomous operation handle, hatch door state
Sensor is electrically connected, wherein：
The bottom controller is by controlling the rotary shaft motion drive the rotary shaft to be driven to act；
The action of basic motion controller autonomous operation handle according to inspection acclimatization rescues Object Operations, calculates
Go out axial velocity and the acceleration of corresponding rotary shaft to control power servo；
The information whether the basic motion controller is closed by hatch door state sensor acquisition hatch door, and accordingly
Determine whether to be controlled that the acclimatization is forbidden to rescue cabin movement.
Preferably, the autonomous control system concrete configuration checks that acclimatization rescues object and passes through manipulator to enable
The direction of motion, movement velocity, acceleration of motion that handle rescues the acclimatization in cabin control, and balance work(according to the vestibular
Can inspection, acclimatization, rescue the preset maximum operational speed of equipment, acceleration limit value, gradually change the acclimatization and rescue cabin
The direction of motion, movement velocity, acceleration of motion.
Preferably, the autonomous control system is also configured with operating terminal, the operating terminal is configured to record in real time
The acclimatization rescues the running orbit in cabin and with the display screen for showing the running orbit；The operating terminal is by operating eventually
End software automatically analyzes out the acclimatization and rescues the practical difference for replying track and optimum trajectory in cabin, obtains corresponding inspection acclimatization
Rescue object space capacity of orientation index.
Preferably, the 3 D stereo what comes into a driver's Real-time Simulation System concrete configuration is that the movement in cabin is rescued with the acclimatization
The real-time volume three-dimensional motion video scene of synchronous simulation outer space environment, and be shown on the three-dimensional display screen,
In：
The real-time volume three-dimensional motion video scene of the outer space environment is related by rescuing cabin operation to the acclimatization
Connection transfers software control in real time, and when the acclimatization, which rescues cabin, to be rotated, the three-dimensional display screen can be shown in real time
The three-dimensional environment of simulation is shown.
Preferably, the vestibular equilibrium function inspection, acclimatization, rescue equipment further include and the operation control system electricity
The safe-guard system of connection, the safe-guard system includes body position fixing device, movement shafting is met an urgent need tripper, in cabin
Talkback unit inside and outside video monitoring devices, cabin, for ensureing that the acclimatization rescues the visible illumination and infrared light of cabin intraoral illumination
Lighting device, peripheral hardware ups power and the autonomous emergency power supply ensuring equipment of rotary shaft, wherein：
The body position fixing device checks that acclimatization rescues object for fixed；
The movement shafting, which is met an urgent need in the case that tripper rescues cabin abnormal power-down for the acclimatization, controls power to watch
Clothes put back into position and hatch door are opened；
Talkback unit rescues the real-time of personnel inside and outside cabin for the acclimatization inside and outside video monitoring devices and cabin in the cabin
Communication and real time monitoring；
The peripheral hardware ups power and the autonomous emergency power supply ensuring equipment of rotary shaft are used to ensure significant data during grid cut-off
Storage and force to terminate the acclimatization in the case where other various fault conditions such as abnormal failure occur in power grid and ups power to rectify
Cabin is controlled to move and make its return.
Preferably, the physiological information detecting equipment includes nystagmus information analysis record system and other physiological signals are remembered
Recording system, wherein：
The nystagmus information analysis record system includes acquiring nystagmus information and being sent to the operation control system
Nystagmus signal transducer；
Other physiological signals record system includes acquisition respectively and checks that acclimatization rescues object ecg information and blood pressure letter
The physiological signal sensor of breath, and with expansion interface.
Preferably, the operation control system by two be mutually perpendicular to axial Serve Motor Control described in acclimatization rectify
The action in cabin is controlled, the servo motor drives the acclimatization to rescue cabin and moves by rotary shaft described in deceleration mechanism controls；It is described
Deceleration mechanism includes speed reducer and reduction gearing.
Preferably, the electrical connection is connected by shielded cable.
Compared with prior art, vestibular equilibrium function inspection of the invention, acclimatization, the advantageous effect of rescuing equipment are：
On the basis of using for reference domestic and international vestibular function examination and rescuing equipment, by the machinery and power servo that are electrically connected to each other,
Operation control system, autonomous control system, 3 D stereo what comes into a driver's Real-time Simulation System, safe-guard system and medicine physiological signal
Monitoring and recording system, and concrete configuration is carried out to each system, the three-dimensional rotation system that can quantify control is established, three can be carried out at the same time
Three pairs of compound motion, stimulation vestibular semicircular canals are tieed up, while can also carry out the bio-signal acquisitions such as Electronystagmogram, are practised with reaching to checking
Clothes rescue object and carry out the comprehensive assessment of vestibular function, improve its vestibular balance and orientating function, the efficiency for rescuing motion sickness.
Description of the drawings
Fig. 1 is the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, the integrated stand composition for rescuing equipment；
Fig. 2 is the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, the overall work principle signal for rescuing equipment
Figure；
Fig. 3 is that the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, the acclimatization of rescuing equipment rescue platform and operation console
Front schematic view；
Fig. 4 be the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, rescue equipment operation control system principle
Schematic diagram；
Fig. 5 is the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, the application software system top layer for rescuing equipment
Schematic diagram；
Fig. 6 is the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, the real-time mould of 3 D stereo what comes into a driver's for rescuing equipment
The principle schematic of plan system；
Fig. 7 be the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, rescue equipment safe-guard system principle
Schematic diagram；
Fig. 8 is that the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, the video signal collection flow of rescuing equipment are shown
It is intended to；
Fig. 9 is the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, the medicine physiologic signal monitoring note for rescuing equipment
The principle schematic of recording system.
Specific embodiment
In the following with reference to the drawings and specific embodiments to the present invention the inspection of vestibular equilibrium function, acclimatization, rescue equipment make into
One step is described in detail, but not as a limitation of the invention.
Fig. 1 is the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, the integrated stand composition for rescuing equipment；Fig. 2 is this
The vestibular equilibrium function inspection of inventive embodiments, acclimatization, the overall work principle schematic for rescuing equipment；Fig. 3 is real for the present invention
Apply the vestibular equilibrium function inspection of example, acclimatization, the acclimatization of rescuing equipment rescue the front schematic view of platform and operation console.
As shown in Figure 1, the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, equipment is rescued, including operation and control system
System and the machinery and power servo, autonomous control system, the 3 D stereo what comes into a driver's that are electrically connected to each other with it simulate and are in real time
System and medicine physiologic signal monitoring record system, wherein, machinery and power servo rescue platform 1 including acclimatization, and acclimatization is rescued
Platform 1 includes checking that the acclimatization acclimatization rescuing object and be fixed in two orthogonal rotary shafts rescues cabin 1 for carrying, and two
The X-axis as trunnion axis and the Y-axis as vertical axis may be used in a rotary shaft, and acclimatization rescues cabin 1 respectively can be by a predetermined angle
Spinning movement is carried out along X-axis rotation arrows and Y-axis rotation arrows.Operation control system is configured to by sending instruction with to power
Servo-drive system forms closed-loop control, and acclimatization is controlled to rescue the action in cabin 1, operation control system and acclimatization rescue platform be electrically connected with
Control acclimatization rescues platform and receives its feedback information.
Autonomous control system is configured so as to check that acclimatization rescues object and voluntarily acclimatization can be controlled to rectify by joystick
Control the rotation that cabin 1 carries out any angle, arbitrary speed, arbitrary acceleration.3 D stereo what comes into a driver's Real-time Simulation System be configured to
Operation control system combined network communication rescues three-dimensional display screen in cabin 1 including being set to acclimatization, which is configured to
It is regarded under the linkage of operation control system, rescuing cabin 1 and revolving acceleration, rotary speed real-time display three-dimensional motion with being synchronized with acclimatization
Frequency scene.Medicine physiologic signal monitoring record system include be set to acclimatization rescue cabin 1 for detect and record check acclimatization rectify
Control the various physiologic information indexs of object and the physiological information detecting equipment for transmitting it to console.
The vestibular equilibrium function inspection of the present invention, acclimatization rescue equipment and pass through the machinery and kinetic servo that are electrically connected to each other
System, operation control system, autonomous control system, 3 D stereo what comes into a driver's Real-time Simulation System, safe-guard system and medico
Signal monitoring record system is managed, establishes the three-dimensional rotation system that can quantify control, three-dimensional compound motion, stimulation three can be carried out at the same time
To vestibular semicircular canal, bio-signal acquisition is carried out at the same time, the comprehensive assessment of object vestibular function is rescued to meet inspection acclimatization, carries
High vestibular orientating function and the needs of anti-motion sickness ability.Acclimatization is rescued cabin 1 and is fixed on two orthogonal rotations by the present invention
Shaft is fastened, and two rotary axis is driven to rotate by independent or joint, is simulated the various spinning movements in space, realize as follows
Function：
(1) orthodontic of benign paroxysmal positional vertigo, including：Left and right sides horizontal semicircular canal, canalis semicircularis anterior, after
Benign paroxysmal positional vertigo caused by semicircular canal otolith ectopic is rescued；
(2) horizontal, posterior semicircular canals Function detection is included in arbitrary semicircular canal plane and carries out friction speed, different acceleration
The rotation of degree, to measure respond of the bilateral semicircular canal to friction speed and acceleration；
(3) vestibule incoordination state (vestibular origin illusion, probably motion sickness, height) is rescued, good mainly for that cannot be diagnosed as
Property paroxysmal positional vertigo, but with the group of atypical otolith ectopic disease syndrome performance, in in-group many people with
It is airsick, carsick, probably a height of typical clinical manifestations；
(4) object is rescued certainly by inspection acclimatization to the resistance to force estimation of the angular acceleration of semicircular canal under three-dimensional space motion state
Row operation improve rotating angular acceleration, until it is difficult to bear until, all directions maximum angular acceleration value be not less than 150 °/
s2；
(5) rehabilitation for specific semicircular canal dysfunction and acclimatization, can be to arbitrary half in everyone six semicircular canals
It regulates, the specific aim acclimatization for carrying out different acceleration values is taken exercise；
(6) assessment of three dimensions orientating function and screening, for measuring spatial orientation index, sentence according to spatial orientation index
Disconnected spatial orientation ability.
As a preferred embodiment, operation control system is mutually perpendicular to axial Serve Motor Control acclimatization by two and rectifys
The action in cabin 1 is controlled, servo motor drives acclimatization to rescue cabin 1 and moves by deceleration mechanism controls rotary shaft；Deceleration mechanism includes subtracting
Fast machine and reduction gearing.Biaxially power servo is that acclimatization rescues the power source that cabin 1 is rotated, by servo motor,
The mutual cooperation of speed reducer, all kinds of reduction gearing rescues the rotation of cabin 1 for acclimatization and provides enough torsional moments, rotary inertia.It is excellent
Connection mode is between each system that selection of land may be used, the machinery and power servo that are electrically connected with operation control system,
Autonomous control system, 3 D stereo what comes into a driver's Real-time Simulation System and medicine physiologic signal monitoring record system averages do not pass through shielding
Cable connection, electric property and signal stabilization to present device provide optimal guarantee.
As an improvement acclimatization, which rescues platform, includes rack 5 fixed with ground, rack 5 is equipped with 3 He of the first supporting rack
Second supporting rack 4, the first supporting rack 3 support acclimatization are rescued cabin 1 and are rotated, second around a rotary shaft (being X-axis shown in Fig. 2)
Support 4 support acclimatization rescue cabin 1 around shown in another rotary shaft Fig. 2 be Y-axis) rotation.It sets through this structure, acclimatization
It rescues the content in platform combination following description and completes following work：
1. stowage survey acclimatization rescue object by it is various rescue, rehabilitation acclimatization scheme or Entrance space capacity of orientation assessment side
The compulsory exercise of case is rotated；
2. will check that acclimatization is rescued object and is fixed on Postural immobilization chair, when acclimatization is rescued cabin 1 and rotated, ensure and check habit
Clothes, which are rescued between object does not rescue cabin 1 with acclimatization, occurs violent relative motion；
3. the height adjustment head position fixed frame for rescuing object according to acclimatization is checked, ensures nystagmus video camera and various bodies
Type, height inspection acclimatization rescue object eye and keep contour equidistant；
4. it loads three-dimensional space environmental simulation display device to rotate jointly, while screen with checking that acclimatization rescues object
Upper broadcasting three-dimensional space environmental simulation scene；
5. load check acclimatization rescues the autonomous control device of object, which is rectified after operator authorizes by inspection acclimatization
It controls object and voluntarily manipulates acclimatization and rescue cabin 1 and be rotated；
6. loading various safety convenience instruments, safety guarantee service is provided to check that acclimatization rescues object, as hatch door locks
Monitor camera in monitoring device, cabin, talkback unit, rotation axis system provide rechargable power supplies etc. for oneself inside and outside cabin；
7. load various physiological information detecting equipments, rescue detection when cabin 1 is rotated in acclimatization and check that acclimatization is rescued pair
The various physiologic information indexs of elephant, such as nystagmus, blood pressure, electrocardiogram can also expand and carry other physiological detection equipment as needed, and
Each physiologic information is real-time transmitted to operation console, in case applying for further processing.
Wherein, rack is heavier, will not shake or shake in work, and indicator light 51 is equipped on rack, passes through indicator light 51
It will be seen that whether power supply, the working condition of X-axis system and Y-axis system and hatch door closing, acclimatization rescues 1 kinetic control system of cabin
Whether the information such as normal.X-axis system includes the first supporting rack 3, rotary motion shafting, power and actuating unit, data information
Switching device.It being capable of the tens of lines such as traveling power line, control signal wire, physiological data collection signal wire in first supporting rack 3
Road, and with anti-electromagnetic interference capability.Y-axis system includes the second supporting rack 4, rotary motion shafting, power and actuating unit.
In second supporting rack 4 can the tens of circuits such as traveling power line, control signal wire, physiological data collection signal wire, and have
Anti- electromagnetic interference capability.Acclimatization rescues cabin 1 and includes hatch door, Postural immobilization chair, body position fixing device and other safety convenience instruments
It is formed with correlation function structure member.By the dynamical system of the dynamical system collaboration Y-axis system of X-axis system drive acclimatization rescue cabin 1 into
Row rotation can be mutually perpendicular to axial progress controllable rotating along two so as to ensure that acclimatization rescues cabin 1, ensure that rotary body can be light
Pine carries out power transmission freely, safely rotates, and reach the index request of angular speed and angular acceleration.
Fig. 4 be the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, rescue equipment operation control system principle
Schematic diagram；Fig. 5 is the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, the application software system top layer for rescuing equipment
Schematic diagram；Fig. 6 is the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, the real-time mould of 3 D stereo what comes into a driver's for rescuing equipment
The principle schematic of plan system；Fig. 7 is that the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, the safety of rescuing equipment are protected
The principle schematic of barrier system；Fig. 8 is the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, the video letter for rescuing equipment
Number collecting flowchart schematic diagram；Fig. 9 is the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, the medicine physiology for rescuing equipment
Signal monitoring records the principle schematic of system.As a further improvement, operation control system includes rescuing platform electricity with acclimatization
Connection with acclimatization is rescued platform carry out operations operation console 2, operation console 2 include for edit the inspection of vestibular equilibrium function,
Acclimatization rescues equipment operating scheme and issues the control terminal of instruction, and the program and instruction are sent to and are set to acclimatization by control terminal
Rescue the bottom controller of platform side, bottom controller respectively with rotary shaft motion drive, autonomous operation handle, hatch door state
Sensor is electrically connected, wherein, bottom controller is by controlling rotary shaft motion drive so that rotary shaft to be driven to act, with reference to above-mentioned
Content, rotary shaft motion drive include the X-axis motion drive being connect with X-axis telecontrol equipment and are connect with Y-axis telecontrol equipment
Y-axis motion drive；The action that basic motion controller rescues Object Operations autonomous operation handle according to acclimatization is checked calculates
Go out axial velocity and the acceleration of corresponding rotary shaft to control power servo；Basic motion controller passes through hatch door state
Sensor obtain hatch door whether closing information, and based thereon determine whether to be controlled and be moved so that acclimatization is forbidden to rescue cabin 1.
Operation console 2 includes host computer, has human-computer interaction interface.Operator can complete various rectify on operation console 2
It controls, acclimatization, evaluation work, the specific works that operation console 2 can be completed are described below：
1. display rescues operation information, checks that acclimatization rescues object essential information, checks that acclimatization rescues object and rescues acclimatization
Data checks that acclimatization rescues object and rescues acclimatization outcome evaluation information, rescues acclimatization scheme setting information, by these information
Holding can complete to rescue inspection acclimatization rescuing acclimatization task, rescuing acclimatization outcome evaluation, rescue setting for acclimatization scheme for object
Put, edit, rescue acclimatization result the functions such as have access to, analyze, achieving, counting；
2. check that acclimatization is rescued object nystagmus video and shown and capturing function：Check that acclimatization rescues object eye in real-time display
While ball sport video information, nystagmus information is extracted, and show with curve form, except the linear fortune that can analyze eyeball
Outside dynamic nystagmus, additionally it is possible to analyze rolling nystagmus；And nystagmus information can be calculated automatically, such as fast slow phase, frequency, speed
Degree, amplitude etc.；
3. real-time synchronization shows that acclimatization rescues the running orbit curve of the movement of cabin 1 and various physiologic information recording curves；
4. real-time display acclimatization, which is rescued, checks that acclimatization rescues the video information of object, and can pass through verbal communication in cabin 1
Device carries out verbal communication with checking that acclimatization rescues object；
5. during checking that acclimatization rescues object progress diagnosis and treatment and rehabilitation acclimatization, it can control at any time and check that acclimatization is rescued
The physical condition of object and the working condition of equipment, if any emergency, can emergency braking at any time, and acclimatization is made to rescue cabin 1
In the position for being easy to that inspection acclimatization is rescued object and given treatment to；Or slowly braking, inspection acclimatization is made to rescue object and is in
Rest position；
6. acclimatization rescues synchronously simulating space environment display function in cabin 1：Acclimatization rescues three-dimensional space environment in cabin 1
It is fully synchronized that simulative display content with acclimatization rescues 1 motion conditions of cabin；
7. the simulative display function of diagnosis and treatment acclimatization scheme：Can scheme be rescued by what screen preview equipment was intended carrying out at any time
Implementation procedure, and unreasonable scheme of rescuing can at any time be changed by preview；
8. X-axis system and Y-axis system motor driver parameter can be configured, it can be to simulating stereoscopic scene in cabin
Various parameters modify, adjust, to adapt to the needs of different stereoscopic vision condition personnel；
9. the different operating schemes in cabin 1 can be rescued according to acclimatization, general lighting lamp in cabin or infrared illumination lamp are carried out certainly
It is dynamic to open and close；
10. operation console 2 has auto-lock function, non-designated personnel can not open system；
11. the concrete condition that can rescue object according to acclimatization is checked, authorization check acclimatization rescue object and independently manipulate habit
Clothes rescue cabin 1, and speed and the limit acceleration when setting rotation.
Maincenter of the operation control system for the present invention, is ordered for issuing, and is formed closed-loop control to power servo, is referred to
It waves control acclimatization and rescues cabin 1 by the various corresponding diagnosis and treatment of regulation requirement progress and acclimatization action；It ensures and checks that acclimatization rescues object
Autonomous control operation acclimatization rescues cabin；It links with the networking of 3 D stereo what comes into a driver's Real-time Simulation System, in control management motion
The various parameters of servo motor, the movement that guarantee acclimatization rescues cabin 1 are consistent with the kinaesthesis in space；To checking that acclimatization is rescued
The data that object autonomous control acclimatization rescues cabin operation are handled, and ensure that acclimatization rescues cabin movement and real-time the three of display terminal
Tie up image synchronization.As shown in the figure, control terminal passes through RS422 interfaces, general side for selecting editor's acclimatization scheme and issuing order
Case and order are transmitted to basic motion controller, and closed-loop control, commander's control are formed to motor driver by basic motion controller
Acclimatization processed rescues cabin 1 and carries out various corresponding diagnosis and treatment and acclimatization action by regulation requirement.Object is rescued from master control in inspection acclimatization
When system operation acclimatization rescues cabin 1, basic motion controller, according to linear relationship, is calculated according to the action of autonomous operation handle
Corresponding axial velocity and acceleration, control servo motor.Also, operation control system is simulated in real time with 3 D stereo what comes into a driver's
System is linked by the networking of system communication net, and the various parameters of servo motor in management motion are controlled by management terminal, with
And by display terminal ensure acclimatization rescue cabin 1 movement it is consistent with display terminal 3 D stereo what comes into a driver's.With reference to the above,
As shown in figure 5, it will be appreciated that the application software system that operation control system is set includes service terminal software, control terminal
Software and display terminal software, respectively accordingly with database, motion controller and video signal collection device and physiological signal
Collector realizes the transmission of data flow, and the Visual C++ environment used based on mainstream host computer operating system may be used and compile
It writes, with serial communication, network communication, Bluetooth communication, usb communication and database storage techniques, physiological signal receiving module can
Supplier's communication protocol to be used to realize, video acquisition module can use supplier SDK, and (Software Development Kit are soft
Part development kit).
It is improved as further, autonomous control system concrete configuration checks that acclimatization is rescued object and passed through to enable
The direction of motion, movement velocity, acceleration of motion that operation handle rescues acclimatization in cabin 1 control, and balance work(according to vestibular
Can inspection, acclimatization, rescue the preset maximum operational speed of equipment, acceleration limit value, gradually change the fortune that acclimatization rescues cabin 1
Dynamic direction, movement velocity, acceleration of motion.As the preferred embodiment of the present embodiment, autonomous control system is also configured with operation eventually
End, operating terminal are configured to record acclimatization in real time and rescue the running orbit in cabin 1 and have the display screen for showing the running orbit,
Information when reproduction display rescues object autonomous operation by inspection acclimatization can be transferred at any time after acclimatization rescues the stopping of cabin 1；Behaviour
Make terminal and automatically analyze out acclimatization by operating terminal software to rescue the practical difference for replying track and optimum trajectory in cabin 1, obtain
It is corresponding to check that acclimatization rescues object space capacity of orientation index.
With reference to attached drawing, when the equipment of the present invention is in and rescues object by inspection acclimatization and independently manipulate state, acclimatization is checked
Object is rescued by operation handle, by basic motion controller calculation processing, the direction of motion, the movement speed in cabin 1 are rescued to acclimatization
Degree, acceleration of motion are controlled, and basic motion controller can be according to operating personnel in advance to checking that acclimatization rescues object manipulation
When, the maximum operational speed of equipment, acceleration are limited, and the inspection acclimatization for adapting to different levels rescues object by easy stages
Improve acclimatization difficulty.When carrying out space position adjustment and spatial orientation function acclimatization, pass through random motion side by operating personnel
Formula will check that acclimatization rescues object and puts a certain special body position, by checking that acclimatization rescues object manipulation operation handle, control
Acclimatization is rescued cabin 1 and is moved, and acclimatization is made to rescue cabin 1 and is returned on the position specified.Operating terminal software automatically analyzes out acclimatization and rectifys
The practical difference for replying track and optimum trajectory in cabin 1 is controlled, show that corresponding inspection acclimatization rescues object space capacity of orientation index.
During checking that acclimatization rescues object manipulation, in cabin on 3D display device and server display, synchronous 3D backgrounds are played
Video.On the display screen of operating terminal, it can record in real time and show that inspection acclimatization rescues the operation that object acclimatization rescues cabin 1
Track, and can be when reproduction display be transferred after acclimatization at any time and rescues object autonomous operation by inspection acclimatization various information.
It is improved as another kind, 3 D stereo what comes into a driver's Real-time Simulation System concrete configuration is that the movement in cabin 1 is rescued with acclimatization
The real-time volume three-dimensional motion video scene of synchronous simulation outer space environment, and be shown on three-dimensional display screen, wherein, outside
The real-time volume three-dimensional motion video scene of portion's space environment is run by rescuing cabin 1 with acclimatization and associated transfers software control in real time
System, when acclimatization, which rescues cabin 1, to be rotated, three-dimensional display screen can real-time display go out the three-dimensional environment of simulation.Knot
Attached drawing is closed, 3 D stereo what comes into a driver's Real-time Simulation System can be by being shown by nonpolarity 3D what comes into a driver's graphic file, 3D display terminal, 3D
Display screen, polarised light 3D glasses and associated control software composition.Its task is that synchronously simulating checks that acclimatization is rescued object acclimatization and rescued
In 1 motion process of cabin, the real-time volume 3D motion video scene of outer space environment, and be shown in and check that acclimatization rescues object habit
Clothes are rescued on the 3D display screen in cabin 1, after checking that acclimatization rescues subject wears 3D anaglyph spectacles, can watch the solid of simulation
Move what comes into a driver's.The real-time volume 3D motion video scene of outer space environment, by checking that acclimatization is rescued object acclimatization and rectified with equipment
Control cabin 1 run it is associated transfer software control in real time, when acclimatization, which rescues cabin 1, to be rotated, by left eye picture and
Right eye picture display screen can real-time display go out to simulate 3D steric environments.The nonpolarity 3 D stereo fortune that 3D display screen is shown in cabin
Dynamic visual field and acclimatization rescue that 1 rotary motion speed of cabin, acceleration, the numerical value of rotation angle is identical, polarity is on the contrary, make inspection acclimatization
Object is rescued while rotary motion, proprioceptive sensation, the vestibular sense of equilibrium, vision high unity.
As a further improvement, the vestibular equilibrium function inspection of the embodiment of the present invention, acclimatization, rescuing equipment and further including and institute
State the safe-guard system of operation control system electrical connection.Safe-guard system is configured for ensureing the inspection of vestibular equilibrium function
It looks into, acclimatization, the equipment safety for rescuing equipment and check that acclimatization rescues the personal safety of object.Safe-guard system includes body
Position fixing device, movement shafting meet an urgent need tripper, video monitoring devices in cabin, talkback unit inside and outside cabin, for ensureing acclimatization
Rescue visible illumination and infrared light illuminating devices, the autonomous emergency power supply guarantee of peripheral hardware ups power and rotary shaft of 1 intraoral illumination of cabin
Device, wherein, body position fixing device checks that acclimatization rescues object for fixed；Movement shafting tripper of meeting an urgent need is rectified for acclimatization
Kinetic servo device return is controlled in the case of controlling 1 abnormal power-down of cabin and hatch door is opened；Video monitoring devices in cabin
It is used to realize that acclimatization rescues the real-time communication and monitoring of personnel inside and outside cabin 1 by system communication net with talkback unit inside and outside cabin；Outside
If ups power and the autonomous emergency power supply ensuring equipment of rotary shaft are used to ensure during grid cut-off the storage of significant data, Yi Ji
Power grid and ups power, which occur forcing under other various fault conditions such as abnormal failure terminating the acclimatization rescuing cabin 1, to be moved and makes
Its return.
With reference to attached drawing, safe-guard system can be met an urgent need tripper, video in cabin by body position fixing device, movement shafting
Talkback unit and visible illumination and infrared light illuminating devices, peripheral hardware ups power and rotary axis inside and outside monitoring arrangement, cabin
The compositions such as autonomous emergency power supply ensuring equipment.In the case where acclimatization rescues 1 abnormal power-down of cabin, by tripper of meeting an urgent need, protect
Hinder kinetic servo device return, hatch door can be opened, it is ensured that check that acclimatization rescues the safety of object.It works in the equipment of the present invention
In the case of normal, by talkback unit inside and outside video monitor and cabin, understand and check that acclimatization rescues reaction feelings of the object to acclimatization
Condition.No matter whether mains-supplied is normal, ensures the illumination in cabin.When equipping normal, headlamp is by basic motion controller control
Make bright breath；When equipping abnormal electrical power supply, headlamp is by the bright breath of manual control.In the case where alternating current powers off, by ups power not
Interruptedly supplying power ensures that the storage of significant data and order terminate operation and acclimatization made to rescue 1 return of cabin.Only hatch door has locked,
System just allows acclimatization to rescue cabin 1 to rotate, unlatching or lock-out state residing for hatch door, by indicator light 51 in real time in different colors
Light form be shown in acclimatization and rescue on the rack 5 of platform.
It is improved as further, physiological information detecting equipment includes nystagmus information analysis record system and other physiology
Signal recording system, wherein, nystagmus information analysis record system includes acquiring nystagmus information and being sent to operation and control system
The nystagmus signal transducer of system；Other physiological signals record system include respectively acquisition check acclimatization rescue object ecg information and
The physiological signal sensor of blood pressure information, and with expansion interface.Nystagmus information can be with accurate recording eye movement, and the amount of progress
Change analysis and the preservation of data；Accurately judge the state (low, hyperfunction or forfeiture) of vestibular function；Pass through position and displacement
Experiment can make diagnosis to benign positional vertigo.With reference to attached drawing, wherein nystagmus information analysis records system by infrared photography
Machine, video camera fixed structure, transmission and anti-interference structure, the capture of video eyeball, analysis, recording device are formed.Other physiology
Signal is by physiology information detecting interface, access system software, enables a system to externally to connect physiology information detecting equipment mutually simultaneous
Hold.External physiologic information includes blood pressure, electrocardiogram in the present embodiment, if it is desired, can also be by extending mouth extension connection
Other physiological signal collection equipment.
The vestibular equilibrium function inspection of the present invention, acclimatization, the advantageous effect of rescuing equipment are：Using for reference domestic and international vestibular
Functional check acclimatization is rescued on the experiential basis of equipment, passes through the machinery and power servo that are electrically connected to each other, operation and control
System, autonomous control system, 3 D stereo what comes into a driver's Real-time Simulation System, safe-guard system and medicine physiologic signal monitoring record
System, and concrete configuration is carried out to each system, the three-dimensional rotation system that can quantify control is established, three-dimensional compound fortune can be carried out at the same time
Dynamic, three pairs of vestibular semicircular canals of stimulation, while can also carry out the bio-signal acquisitions such as Electronystagmogram, to reach to checking that acclimatization is rescued pair
As carrying out the comprehensive assessment of vestibular function, improving its vestibular balance and orientating function, the efficiency for rescuing motion sickness, to conventional doctor
Treatment, physical function acclimatization, rehabilitation and aeromedicine have great importance.
Above example is only exemplary embodiment of the present invention, is not used in the limitation present invention, protection scope of the present invention
It is defined by the claims.Those skilled in the art can make the present invention respectively within the spirit and scope of the present invention
Kind modification or equivalent replacement, this modification or equivalent replacement also should be regarded as being within the scope of the present invention.
Claims (9)
1. a kind of vestibular equilibrium function inspection, rescues equipment at acclimatization, which is characterized in that including operation control system and and its
Machinery and power servo, autonomous control system, 3 D stereo what comes into a driver's Real-time Simulation System and the medico being electrically connected to each other
Signal monitoring record system is managed, wherein：
The machinery and power servo rescue platform including acclimatization, and the acclimatization rescues platform and includes checking that acclimatization is rectified for carrying
The acclimatization controlled object and be fixed in two orthogonal rotary shafts rescues cabin；
The operation control system is configured to by sending instruction to form closed-loop control to power servo, and described in control
Acclimatization rescues the action in cabin, and the operation control system rescues platform with the acclimatization and is electrically connected that the acclimatization is controlled to rescue platform simultaneously
Receive its feedback information；
The autonomous control system is configured so as to check that acclimatization rescues object and can voluntarily control the habit by joystick
Clothes rescue the rotation that cabin carries out any angle, arbitrary speed, arbitrary acceleration；
The 3 D stereo what comes into a driver's Real-time Simulation System be configured to the operation control system combined network communication, including being set to
It states acclimatization and rescues three-dimensional display screen in cabin, which is configured under the linkage with the operation control system, together
It walks and rescues cabin acceleration and rotary speed real-time display three-dimensional motion video scene in the acclimatization；
Medicine physiologic signal monitoring record system include being set to the acclimatization rescue cabin for detect and record check habit
Clothes rescue the various physiologic information indexs of object and the physiological information detecting equipment for transmitting it to console.
2. vestibular equilibrium function inspection according to claim 1, rescues equipment at acclimatization, which is characterized in that the acclimatization is rectified
Platform is controlled to include being equipped with the first supporting rack and the second supporting rack, first supporting rack with the fixed rack in ground, the rack
The acclimatization is supported to rescue cabin to rotate around a rotary shaft, second supporting rack supports the acclimatization to rescue cabin around another rotation
Shaft rotates.
3. vestibular equilibrium function inspection according to claim 1, rescues equipment at acclimatization, which is characterized in that the operation control
System processed is electrically connected to rescue the acclimatization operation console that platform carries out operations, the behaviour including rescuing platform with the acclimatization
Make platform to include for editing the vestibular equilibrium function inspection, acclimatization, the control terminal rescued equipment operating scheme and issue instruction,
The program and instruction are sent to the bottom controller for being set to the acclimatization and rescuing platform side, the bottom control by the control terminal
Device processed is electrically connected respectively with rotary shaft motion drive, autonomous operation handle, hatch door state sensor, wherein：
The bottom controller is by controlling the rotary shaft motion drive the rotary shaft to be driven to act；
The action of basic motion controller autonomous operation handle according to inspection acclimatization rescues Object Operations, calculates phase
The axial velocity of the rotary shaft answered and acceleration are to control power servo；
The information whether the basic motion controller is closed by hatch door state sensor acquisition hatch door, and determine therefrom that
Whether controlled that the acclimatization is forbidden to rescue cabin movement.
4. vestibular equilibrium function inspection according to claim 1, rescues equipment at acclimatization, which is characterized in that the autonomous behaviour
Control system concrete configuration is to check that acclimatization rescues the movement side that object rescues the acclimatization by operation handle in cabin
To, movement velocity, acceleration of motion controlled, and according to the vestibular equilibrium function inspection, acclimatization, to rescue equipment preset
The limit value of maximum operational speed, acceleration, gradually change the acclimatization rescue the direction of motion in cabin, movement velocity, movement plus
Speed.
5. vestibular equilibrium function inspection according to claim 4, rescues equipment at acclimatization, which is characterized in that the autonomous behaviour
Control system is also configured with operating terminal, and the operating terminal is configured to record running orbit and tool that the acclimatization rescues cabin in real time
There is the display screen for showing the running orbit；The operating terminal automatically analyzes out the acclimatization by operating terminal software and rescues
The practical difference for replying track and optimum trajectory in cabin show that corresponding inspection acclimatization rescues object space capacity of orientation index.
6. vestibular equilibrium function inspection according to claim 1, rescues equipment at acclimatization, which is characterized in that described three-dimensional vertical
Stereoscopic scape Real-time Simulation System concrete configuration is the reality of simulation outer space environment synchronous with the movement that the acclimatization rescues cabin
When stereoscopic three-dimensional sport video scene, and be shown on the three-dimensional display screen, wherein：
The real-time volume three-dimensional motion video scene of the outer space environment is associated by rescuing cabin operation with the acclimatization
Transfer software control in real time, when the acclimatization, which rescues cabin, to be rotated, the three-dimensional display screen can real-time display go out
The three-dimensional environment of simulation.
7. vestibular equilibrium function inspection according to claim 1, rescues equipment at acclimatization, which is characterized in that the vestibular is put down
Weighing apparatus functional check, acclimatization rescue equipment and further include the safe-guard system being electrically connected with the operation control system, the safety
Safeguards system includes body position fixing device, movement shafting is met an urgent need tripper, video monitoring devices in cabin, intercommunication dress inside and outside cabin
It puts, for ensureing that the acclimatization rescues the visible illumination and infrared light illuminating devices of cabin intraoral illumination, peripheral hardware ups power and rotation
The autonomous emergency power supply ensuring equipment of axis, wherein：
The body position fixing device checks that acclimatization rescues object for fixed；
The movement shafting meets an urgent need in the case that tripper rescues cabin abnormal power-down for the acclimatization and controls kinetic servo dress
It puts back into position and hatch door is opened；
Talkback unit rescues the real-time communication of personnel inside and outside cabin for the acclimatization inside and outside video monitoring devices and cabin in the cabin；
The peripheral hardware ups power and rotary shaft autonomous emergency power supply ensuring equipment ensure depositing for significant data when being used for grid cut-off
It storage and forces to terminate the acclimatization and rescue cabin under the conditions of abnormal failure occur in power grid and ups power to move and make its return.
8. vestibular equilibrium function inspection according to claim 1, rescues equipment at acclimatization, which is characterized in that the physiology letter
It ceases detection device and includes nystagmus information analysis record system and other physiological signals record system, wherein：
The nystagmus information analysis record system includes the eye for acquiring nystagmus information and being sent to the operation control system
Shake signal transducer；
Described other physiological signals record system includes acquisition respectively and checks that acclimatization rescues object ecg information and blood pressure information
Physiological signal sensor, and with expansion interface.
9. vestibular equilibrium function inspection according to claim 1, rescues equipment at acclimatization, which is characterized in that the operation control
System processed by two be mutually perpendicular to axial Serve Motor Control described in acclimatization rescue the action in cabin, the servo motor passes through
Rotary shaft described in deceleration mechanism controls drives the acclimatization to rescue cabin movement；The deceleration mechanism includes speed reducer and reducing gear
Wheel.
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| CN106798562B (en) * | 2017-04-05 | 2019-10-01 | 北京航空航天大学 | Vestibular electro photoluminescence spatial disorientation counterdevice based near infrared spectrum imaging drive |
| CN107945868A (en) * | 2017-11-24 | 2018-04-20 | 中国科学院苏州生物医学工程技术研究所 | Benign paroxysmal positional vertigo intelligence diagnostic equipment |
| TWI702029B (en) * | 2019-01-17 | 2020-08-21 | 高雄醫學大學 | Three-axis rotational platform |
| CN109907932B (en) * | 2019-04-08 | 2023-12-26 | 中国航天员科研训练中心 | Human upper limb movement control research experiment system influenced by vestibular stimulation |
| CN112057045A (en) * | 2020-09-07 | 2020-12-11 | 湖北文理学院 | Intelligent vertigo diagnosis and treatment instrument |
| CN113495626A (en) * | 2021-06-24 | 2021-10-12 | 四川大学华西医院 | Novel vestibule rehabilitation equipment group based on virtual technology reality |
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Effective date of registration: 20230710 Address after: 100142 vertigo clinic on the first floor of the outpatient department of air force characteristic medical center, No.30 Fucheng Road, Haidian District, Beijing Patentee after: AIR FORCE SPECIALTY MEDICAL CENTER OF PLA Address before: 100,142 Vertigo Center, Air Force General Hospital, No. 30, Fucheng Road, Haidian District, Beijing Patentee before: Air Force General Hospital, PLA |