CN109243336A - A kind of analog simulation electric wheelchair and its working method - Google Patents
A kind of analog simulation electric wheelchair and its working method Download PDFInfo
- Publication number
- CN109243336A CN109243336A CN201810897451.8A CN201810897451A CN109243336A CN 109243336 A CN109243336 A CN 109243336A CN 201810897451 A CN201810897451 A CN 201810897451A CN 109243336 A CN109243336 A CN 109243336A
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- wheelchair
- electric wheelchair
- electric
- controller
- projector
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
- G09F19/00—Advertising or display means not otherwise provided for
- G09F19/02—Advertising or display means not otherwise provided for incorporating moving display members
- G09F19/10—Devices demonstrating the action of an article to be advertised
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
- G09F19/00—Advertising or display means not otherwise provided for
- G09F19/12—Advertising or display means not otherwise provided for using special optical effects
- G09F19/18—Advertising or display means not otherwise provided for using special optical effects involving the use of optical projection means, e.g. projection of images on clouds
Abstract
The invention discloses a kind of analog simulation electric wheelchairs, belong to the field of medical instrument technology, including electric wheelchair, six degree of freedom platform, face capture camera, projector's curtain, support frame, electric wheelchair controller, electric cabinet, projector and hand-held remote control unit.Analog simulation electric wheelchair can allow experiencer to experience the scenes of various situation downward driving wheelchairs, the simulating scenes of existing vision cooperate actual wheelchair simultaneously, and with the true operation of wheelchair, in the six degree of freedom platform by setting, wheelchair jolting when driving can be emulated, reach optimal experience in terms of vision and movement two, client can be allowed to fully understand the actual performance of wheelchair, this emulation wheelchair being capable of the optimal driving performance to present customers wheelchair；It is provided with navigation device on electric wheelchair simultaneously, electric wheelchair can be oriented to destination address automatically in virtual emulation scene, in wheelchair driving process, six degree of freedom platform cooperates simulating scenes to carry out the flexible of height fluctuating.
Description
Technical field
The invention belongs to the field of medical instrument technology, in particular to a kind of analog simulation electric wheelchair.The invention further relates to
A kind of working method of analog simulation electric 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, vehicle
Wheel, 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 join
When adding exhibition or client to come company to discuss business, into present customers oneself company, the quality of wheelchair, can simply pass through
Client directly takes wheelchair actual use and experiences, but since corporate campus is limited, when especially participating in exhibition, place money
Source 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 affairs
Department inside can not provide such place and be shown, and especially in exhibition, unlikely have such condition to open up completely
Show 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 solution
Topic.
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 electric wheelchairs, solve
How to client is carried out the problem of showing wheelchair performance comprehensively.The present invention also provides a kind of work sides of analog simulation wheelchair
Method, it is easy to operate, the movement track of true wheelchair, stable and reliable operation are simulated completely.
Technical solution: a kind of analog simulation electric wheelchair, including electric wheelchair, six degree of freedom platform, face capture camera shooting
Head, projector's curtain, support frame, electric wheelchair controller, electric cabinet, projector and hand-held remote control unit, the electric wheelchair
It is arranged on the upper surface of six degree of freedom platform, the electric cabinet is arranged on six degree of freedom platform, the electric wheelchair control
Device is arranged on the handrail of electric wheelchair, and the front of the electric wheelchair is equipped with projector's curtain, projector's curtain setting
On the support frame, the front of projector's curtain is arranged in the projector, and projector can project figure on projector's curtain
Picture, the face captures the top that projector's curtain is arranged in camera, and face captures the pickup area setting of camera
It for electric wheelchair region, is communicated wirelessly between the hand-held remote control unit and electric cabinet, the electric wheelchair control
Device is equipped with remote-control handle, and the remote-control handle is connect with electric wheelchair controller, the electric wheelchair controller and Electric Motor Wheel
The motor of chair connects, and communicates between the electric wheelchair controller and electric cabinet.Analog simulation electric wheelchair of the invention, in electricity
By simulation software on brain, multiple scenes of artificial life and work are established, projector's curtain are projected in by projector, people sits
On wheelchair, living scene is shown on projector's curtain that front faces, and special scenes is entered according to operator's selection, such as select
Park is selected, the figure of emulation is shown on projector's curtain, operator pushes electricity as normal use electric wheelchair at this time
The rotary speed information of electric wheelchair wheel is transmitted in controller by the remote-control handle of wheelchair, electric wheelchair controller, and and work
The traveling of wheelchair is mapped in the scene of emulation, as people is really sitting in wheel by the control Program Coordination in control machine according to revolving speed
It is movable in park on chair, simultaneously because in park road surface may be uneven or encounter upward slope, descending situations such as, six
The concrete condition on road surface that freedom degree platform is advanced in the scene according to emulation wheelchair, six electric cylinders carry out different stretching or
The activity that person withdraws, to build the left side up and down that the wheelchair being arranged on six degree of freedom platform will appear when driving on road surface
The right side is jolted, and in conjunction with the scene on projector's curtain, wheelchair is travelled like staying in true environment, then face is cooperated to capture camera shooting
Head captures human face and turns to, and when face is turned left, the visual angle in simulating scenes is also turned left, and is turned right similarly, therefore increase greatly
True experience sense is added, this simulating electric wheelchair can in a limited space, and being not required to practical movement wheelchair can be to user's exhibition
Show the repertoire of wheelchair, more true experience can be provided as wheelchair client, is particularly suitable for exhibition or company shows
It is used when publicizing product.
Further, above-mentioned analog simulation electric wheelchair, the electric cabinet is interior to be equipped with one group of servo-driver, servo fortune
Dynamic control card, industrial personal computer and controller, the servo control card are connected with servo-driver, the servo control card
It is connected with controller, the controller is connected with industrial personal computer, is communicated between the controller and electric wheelchair controller.Automatically controlled
Servo-driver, servo control card, industrial personal computer and the controller for the control six degree of freedom platform being arranged in case, can guarantee
Six degree of freedom platform stable is efficiently run.
Further, above-mentioned analog simulation electric wheelchair, the six degree of freedom platform include one group of servo motor, one group
Electric cylinder, upper mounting plate and lower bottom base, the servo motor are connect with electric cylinder, under the upper end and upper mounting plate of the electric cylinder
End face is hinged, and the lower end of electric cylinder and the upper surface of lower bottom base are hinged, and the centre of lower bottom base is arranged in the electric cabinet
Position, the servo motor are connect with servo-driver.Six servo motors control electric cylinder according to program setting respectively and stretch out
Or withdraw, therefore upper mounting plate can show the inclination of various angles, so that emulation wheelchair is sitting on wheelchair when driving
Operator can tilt with the inclination of platform, like travelling wheelchair on true road surface.
Further, above-mentioned analog simulation electric wheelchair is equipped with organ type and protects between the upper mounting plate and lower bottom base
Cover, the upper end of the 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 the outer wall of lower bottom base.Servo motor, electric cylinder, electric cabinet and electric wire can be provide with completely by the organ type protective cover of setting
Firmly, good appearance.
Further, above-mentioned analog simulation electric wheelchair, the upper mounting plate are equipped with wheelchair support plate, the wheelchair branch
The middle position of fagging is equipped with groove, and the electric wheelchair passes through groove and is erected on upper mounting plate, the wheel of the electric wheelchair
It is hanging to be arranged above groove.Middle part in wheelchair support plate opens up groove, and electric wheelchair passes through groove and is arranged six freely
It spends on the upper surface of platform.
Further, the chair back of above-mentioned analog simulation electric wheelchair, the electric wheelchair is equipped with safety belt.It is arranged
When safety belt avoids emulation tilt angle biggish slope, operator falls down from seat causes danger, while this is emulated
Wheelchair can also allow experiencer 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 cause personal injury, but emulates wheelchair and completely solve this problem, it completely will not be on wheelchair by safety belt people
It falls down, while experiencer being allowed to experience the approximate truth of dangerous situation, while enhancing wheelchair user's safety traffic
Consciousness.
Further, above-mentioned analog simulation electric wheelchair, the handrail of the electric wheelchair is equipped with control panel, described
Control panel is connect with industrial personal computer, and the control panel is equipped with omniselector.The control panel and hand-held remote control unit shape of setting
At dual control mode, can both be set by remote control control, can also be by control panel, navigation on the control panel
Device is connect with industrial personal computer, and destination address is set on omniselector, can be matched with destination address in the scene of emulation,
The route for travelling the destination address into virtual scene is shown on control panel, operates the remote-control handle of electric control wheelchair according to traveling road
Electric wheelchair is oriented to destination address automatically by line.
Further, above-mentioned analog simulation electric wheelchair, the lower section of the electric wheelchair is equipped with scissors mechanism, described to cut
Fork mechanism is connect with controller.To during present customers, experiencer has the difference of height, in order to meet height personnel for
The requirement of projector's curtain different height, so as to which best angle checks the scene of emulation, the scissors mechanism of setting is adjustable
Wheelchair height.
The present invention also provides a kind of working methods of analog simulation electric 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 or control panel selection projector, selects the movable scene of electric wheelchair, and
It determines and enters scene；
4) operator is sitting on the seat of electric wheelchair, starts electric wheelchair, pushes remote-control handle, and electric wheelchair controller receives
Remote-control handle signal, electric wheelchair controller control the motor rotation of electric wheelchair, the vehicle wheel rotation of electric wheelchair；
5) controller and electric wheelchair controller communicate, and controller receives the information of motor rotation in electric wheelchair controller, and
Feed back information to industrial personal computer, faster rotating wheel of the industrial personal computer according to electric wheelchair, the emulation that will be projected on projector's curtain
Scene carries out transformation movement according to electric wheelchair speed；
6) industrial personal computer receives the signal of controller, and controller sends out signal according to the wheelchair activities scene set in industrial personal computer
Give servo control card；
7) servo control card sends the signal to servo-driver, servo driver drives servo motor rotation, to control
Electric cylinder processed is stretched out or is withdrawn；
8) activity according to 6 electric cylinders is different, analog jolting when various road surfaces push electric wheelchair；
9) face captures camera and captures face steering, data-signal is fed back to industrial personal computer, on projector's curtain in scene
Rotation direction, the scene of the different angle of observation electric wheelchair up and down.
A kind of working method of above-mentioned analog simulation electric wheelchair, further comprising the steps of:
10) operator is sitting on electric wheelchair, and safety belt is fastened；
11) control button that scissors mechanism is pressed on hand-held remote control unit or control panel, adjust scissors mechanism elongation or
Person withdraws, so as to adjust the height of seat of electric wheelchair；
12) route of omniselector is set, in electric wheelchair driving process, according to navigation in the simulating scenes on projector's curtain
The route running of device.
Above-mentioned technical proposal can be seen that the invention has the following beneficial effects: analog simulation of the present invention is electronic
Wheelchair, structure letter design rationally, are readily produced.The simulated effect of analog simulation electric wheelchair is good, can allow experiencer's body
The scene of various situation downward driving wheelchairs is tested, the simulating scenes of existing vision cooperate actual wheelchair simultaneously, and with wheelchair
True operation can emulate wheelchair jolting when driving in the six degree of freedom platform by setting, in terms of vision and movement two
Reach optimal experience, client can be allowed to fully understand the actual performance of wheelchair, this emulation wheelchair can be optimal to client's exhibition
Show the driving performance of wheelchair；Navigation device is provided on electric wheelchair simultaneously, it can automatically will be electronic in virtual emulation scene
Wheelchair is oriented to destination address, and in wheelchair driving process, six degree of freedom platform cooperates simulating scenes to carry out the flexible of height fluctuating.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of analog simulation electric wheelchair of the present invention；
Fig. 2 is the structural schematic diagram one of analog simulation electric wheelchair of the present invention；
Fig. 3 is the shape overall structure diagram of analog simulation electric wheelchair of the present invention；
Fig. 4 is the connection relationship diagram of the major control element of analog simulation electric wheelchair of the present invention.
In figure: electric wheelchair 1, safety belt 11, scissors mechanism 12, control panel 13, omniselector 14, six degree of freedom platform 2,
Servo motor 21, electric cylinder 22, upper mounting plate 23, lower bottom base 24, face capture camera 3, projector's curtain 4, support frame 5, electricity
Wheelchair controller 6, remote-control handle 61, electric cabinet 7, servo-driver 71, servo control card 72, industrial personal computer 73, control
Device 74, projector 8, organ type protective cover 9, wheelchair support plate 10, groove 101, hand-held remote control unit 100.
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 end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The 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 ", " inverse
The 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 originally
Invention and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific side
Position 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 importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two
It 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 machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete 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 it
Between 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 exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
Embodiment
Analog simulation electric wheelchair as shown in Figs 1-4, including the capture of electric wheelchair 1, six degree of freedom platform 2, face are taken the photograph
As head 3, projector's curtain 4, support frame 5, electric wheelchair controller 6, electric cabinet 7, projector 8 and hand-held remote control unit 100, institute
It states electric wheelchair 1 to be 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, institute
Electric wheelchair controller 6 to be stated to be arranged on the handrail of electric wheelchair 1, the front of the electric wheelchair 1 is equipped with projector's curtain 4,
Projector's curtain 4 is arranged on support frame 5, and the front of projector's curtain 4, and projector 8 is arranged in the projector 8
Image can be projected on projector's curtain 4, the face captures the top that projector's curtain 4 is arranged in camera 3, and face
The pickup area for capturing camera 3 is set as 1 region of electric wheelchair, between the hand-held remote control unit 100 and electric cabinet 7
It communicates wirelessly, the electric wheelchair controller 6 is equipped with remote-control handle 61, and the remote-control handle 61 is controlled with electric wheelchair
Device 6 connects, and the electric wheelchair controller 6 is connect with the motor of electric wheelchair 1, the electric wheelchair controller 6 and electric cabinet 7
Between communicate.Wherein, one group of servo-driver 71, servo control card 72, industrial personal computer 73 and controller are equipped in electric cabinet 7
74, the servo control card 72 and servo-driver 71 connect, and the servo control card 72 and controller 74 connect,
The controller 74 and industrial personal computer 73 connect, and communicate between the controller 74 and electric wheelchair controller 6.Also, six freely
It spends platform 2 and includes one group of servo motor, 21, one groups of electric cylinders 22, upper mounting plate 23 and lower bottom base 24, the servo motor 21 and electricity
Dynamic cylinder 22 connects, and the upper end of the electric cylinder 22 and the lower end surface of upper mounting plate 23 are hinged, and the lower end of electric cylinder 22 and
The upper surface of lower bottom base 24 is hinged, and the middle position of lower bottom base 24, the servo motor 21 and servo is arranged in the electric cabinet 7
Driver 71 connects.Preferably, the section of projector's curtain 4 is arc, and projector's curtain 4 of arcuate structure forms a kind of by wheel
Chair 1 and the operator being sitting on wheelchair 1 form a kind of circular Sensurround, when such operator pushes wheelchair, on projector's curtain 4
Show that the mobile scene of wheelchair, the sense of reality of experience greatly improve simultaneously.
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 appearance
The 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 bottom
On 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 complete
Portion concentrates in six degree of freedom platform 2.
Again, for the authenticity that operator experiences promotion wheelchair, wheelchair support plate 10 is equipped on upper mounting plate 23, it is described
The middle position of wheelchair support plate 10 is equipped with groove 101, and the electric wheelchair 1 passes through groove 101 and is erected on upper mounting plate 23, institute
The wheel hanging for stating electric wheelchair 1 is arranged above groove 101.
In addition, the analog simulation wheelchair of the application can the biggish abrupt slope of design grade, operator push wheelchair in projector
Wheelchair is pushed on curtain 4 on the abrupt slope of virtual scene, six degree of freedom platform 2 is acted according to the specific gradient, is sitting on wheelchair 1
Operator may lean forward, in order to guarantee safety, prevent forward leaning angle from crossing ambassador operator and fall down from wheelchair 1, Electric Motor Wheel
The chair back of chair 1 is equipped with safety belt 11.Further, in order to improve the function of electric wheelchair self-navigation, electric wheelchair 1 is helped
It is equipped with control panel 13 on hand, the control panel 13 is connect with industrial personal computer 73, and the control panel 13 is equipped with omniselector 14.
On omniselector 14 like the navigation of electronic map, operator is guided to the left or to turn right in simulating scenes, guides behaviour
Author, which reaches, witnesses ground, and operator rotates remote-control handle 61 according to omniselector, and the vehicle wheel rotational speed of true electric wheelchair 1 can adjust speed
Degree or direction, the wheel information of control machine acquisition electric wheelchair, to simulate the traveling of electric wheelchair in virtual scene.Into
One step.Since different operator's height is different, in order to make operator be in the optimum experience angle of projector's curtain 4, electricity
The lower section of wheelchair 1 is equipped with scissors mechanism 12, and the scissors mechanism 12 is connect with controller 74.
On the basis of above structure, a kind of working method of analog simulation electric 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 or control panel 13 select the projection interface of projector 8, select electric wheelchair 1 movable
Scene, and determine and enter scene；
4) operator is sitting on the seat of electric wheelchair 1, starts electric wheelchair 1, pushes remote-control handle 61, electric wheelchair controller
6 receive 61 signal of remote-control handle, and electric wheelchair controller 6 controls the motor rotation of electric wheelchair 1, and the wheel of electric wheelchair 1 turns
It is dynamic；
5) controller 74 and electric wheelchair controller 6 communicate, and controller 74 receives the letter of motor rotation in electric wheelchair controller 6
Breath, and industrial personal computer 73 is fed back information to, industrial personal computer 73, will be on projector's curtain 4 according to the faster rotating wheel of electric wheelchair 1
The simulating scenes of projection carry out transformation movement according to 1 speed of electric wheelchair；
6) 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 73
Send a signal to servo control card 72；
7) servo control card 72 sends the signal to servo-driver 71, and servo-driver 71 drives 21 turns of servo motor
It is dynamic, it stretches out or withdraws to control electric cylinder 22；
8) activity according to 6 electric cylinders 22 is different, analog jolting when various road surfaces push electric wheelchair 1；
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 4
Rotation direction in scape, the scene of the different angle of observation electric wheelchair 1 up and down；
10) operator is sitting on electric wheelchair 1, and safety belt 11 is fastened；
11) control button that scissors mechanism 12 is pressed on hand-held remote control unit 100 or control panel 13, adjusts scissors mechanism 12
Elongation or withdrawal, so as to adjust the height of seat of electric wheelchair 1；
12) route of omniselector 14, in 1 driving process of electric wheelchair, the basis in the simulating scenes on projector's curtain 4 are set
The route running of omniselector 14.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For 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 invention
Protection scope.
Claims (10)
1. a kind of analog simulation electric wheelchair, it is characterised in that: caught including electric wheelchair (1), six degree of freedom platform (2), face
Catch camera (3), projector's curtain (4), support frame (5), electric wheelchair controller (6), electric cabinet (7), projector (8) and hand
It holds formula remote controler (100), the electric wheelchair (1) is arranged on the upper surface of six degree of freedom platform (2), the electric cabinet (7)
It is arranged on six degree of freedom platform (2), the electric wheelchair controller (6) is arranged on the handrail of electric wheelchair (1), the electricity
The front of wheelchair (1) is equipped with projector's curtain (4), and projector's curtain (4) is arranged on support frame (5), the projection
Machine (8) is arranged in the front of projector's curtain (4), and projector (8) can project image on projector's curtain (4), described
Face captures camera (3) setting in the top of projector's curtain (4), and the pickup area of face capture camera (3) is set
It is set to electric wheelchair (1) region, is communicated wirelessly between the hand-held remote control unit (100) and electric cabinet (7), it is described
Electric wheelchair controller (6) is equipped with remote-control handle (61), and the remote-control handle (61) connect with electric wheelchair controller (6),
The electric wheelchair controller (6) connect with the motor of electric wheelchair (1), the electric wheelchair controller (6) and electric cabinet (7)
Between communicate.
2. analog simulation electric wheelchair according to claim 1, it is characterised in that: be equipped with one group in the electric cabinet (7)
Servo-driver (71), servo control card (72), industrial personal computer (73) and controller (74), the servo control card
(72) it is connected with servo-driver (71) connection, the servo control card (72) and controller (74), the controller
(74) it connects with industrial personal computer (73), is communicated between the controller (74) and electric wheelchair controller (6).
3. analog simulation electric wheelchair according to claim 2, it is characterised in that: the six degree of freedom platform (2) includes
One group of servo motor (21), one group of electric cylinder (22), upper mounting plate (23) and lower bottom base (24), the servo motor (21) with it is electronic
Cylinder (22) connection, the upper end of the electric cylinder (22) and the lower end surface of upper mounting plate (23) are hinged, and under electric cylinder (22)
The upper surface of end and lower bottom base (24) is hinged, and the electric cabinet (7) is arranged in the middle position of lower bottom base (24), the servo
Motor (21) is connect with servo-driver (71).
4. analog simulation electric wheelchair according to claim 3, it is characterised in that: the upper mounting plate (23) and lower bottom base
(24) organ type protective cover (9) are equipped between, the upper end of the organ type protective cover (9) is fixed on the outer wall of upper mounting plate (23)
On, and the lower end of organ type protective cover (9) is fixed on the outer wall of lower bottom base (24).
5. analog simulation electric wheelchair according to claim 3, it is characterised in that: the upper mounting plate (23) is equipped with wheelchair
The middle position of support plate (10), the wheelchair support plate (10) is equipped with groove (101), and the electric wheelchair (1) passes through groove
(101) it is erected on upper mounting plate (23), the wheel hanging setting of the electric wheelchair (1) is above groove (101).
6. analog simulation electric wheelchair according to claim 3, it is characterised in that: on the chair back of the electric wheelchair (1)
Equipped with safety belt (11).
7. analog simulation electric wheelchair according to claim 6, it is characterised in that: on the handrail of the electric wheelchair (1)
Equipped with control panel (13), the control panel (13) connect with industrial personal computer (73), and the control panel (13) is equipped with navigation
Device (14).
8. analog simulation electric wheelchair according to claim 7, it is characterised in that: set below the electric wheelchair (1)
Have scissors mechanism (12), the scissors mechanism (12) connect with controller (74).
9. according to claim 6,7 or the working method of 8 described in any item analog simulation electric wheelchairs, it is characterised in that:
The following steps are included:
1) electric cabinet (7) powers on, and projector (8) projects on projector's curtain (4)；
2) face captures camera (3) starting and captures human face；
3) the projection interface of hand-held remote control unit (100) or control panel (13) selection projector (8) selects electric wheelchair
(1) movable scene, and determine and enter scene；
4) operator is sitting on the seat of electric wheelchair (1), starts electric wheelchair (1), pushes remote-control handle (61), electric wheelchair
Controller (6) receives remote-control handle (61) signal, and electric wheelchair controller (6) controls the motor rotation of electric wheelchair (1), electronic
The vehicle wheel rotation of wheelchair (1)；
5) controller (74) and electric wheelchair controller (6) communicate, and controller (74) receives motor in electric wheelchair controller (6)
The information of rotation, and feed back information to industrial personal computer (73), industrial personal computer (73) according to the faster rotating wheel of electric wheelchair (1),
The simulating scenes projected on projector's curtain (4) are subjected to transformation movement according to electric wheelchair (1) speed；
6) industrial personal computer (73) receives the signal of controller (74), and controller (74) is according to the wheelchair set in industrial personal computer (73)
Activity scene sends a signal to servo control card (72)；
7) servo control card (72) is sent the signal to servo-driver (71), and servo-driver (71) drives servo motor
(21) it rotates, stretches out or withdraw to control electric cylinder (22)；
8) activity according to 6 electric cylinders (22) is different, analog jolting when various road surfaces push electric wheelchair (1)；
9) face captures camera (3) and captures face steering, data-signal is fed back to industrial personal computer (73), in projector's curtain
(4) direction, the scene of the different angle of observation electric wheelchair (1) up and down are moved in scene transfer on.
10. the working method of analog simulation electric wheelchair according to claim 8, it is characterised in that: further include following step
It is rapid:
10) operator is sitting on electric wheelchair (1), and safety belt (11) is fastened；
11) control button of scissors mechanism (12) is pressed on hand-held remote control unit (100) or control panel (13), adjustment is cut
The elongation or withdrawal of mechanism (12) are pitched, so as to adjust the height of seat of electric wheelchair (1)；
12) route of omniselector (14), in electric wheelchair (1) driving process, the simulating scenes on projector's curtain (4) are set
The middle route running according to omniselector (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810897451.8A CN109243336A (en) | 2018-08-08 | 2018-08-08 | A kind of analog simulation electric wheelchair and its working method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810897451.8A CN109243336A (en) | 2018-08-08 | 2018-08-08 | A kind of analog simulation electric wheelchair and its working method |
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| CN109243336A true CN109243336A (en) | 2019-01-18 |
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| CN201810897451.8A Pending CN109243336A (en) | 2018-08-08 | 2018-08-08 | A kind of analog simulation electric wheelchair and its working method |
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Citations (10)
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Application publication date: 20190118 |