CN109256065A - A kind of three-dimensional space projection has the simulating electric wheelchair and its working method of manipulator - Google Patents
A kind of three-dimensional space projection has the simulating electric wheelchair and its working method of manipulator Download PDFInfo
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- CN109256065A CN109256065A CN201810897407.7A CN201810897407A CN109256065A CN 109256065 A CN109256065 A CN 109256065A CN 201810897407 A CN201810897407 A CN 201810897407A CN 109256065 A CN109256065 A CN 109256065A
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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
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Abstract
The invention discloses the simulating electric wheelchairs that a kind of projection of three-dimensional space has manipulator, belong to the field of medical instrument technology, including electric wheelchair, six degree of freedom platform, face capture camera, projector's curtain cabinet, proj ected bottom plate, electric wheelchair controller, electric cabinet, one group of projector and hand-held remote control unit；Wherein, the electric wheelchair is equipped with manipulator.Electric wheelchair is placed in cuboid space by the application, and the living scene of simulation modeling is projected on projection box body and proj ected bottom plate, experiencer can be allowed to experience the scene 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；In order to further increase the sense of reality, track flat car is set below six degree of freedom platform, can be moved in orbit, as electric wheelchair starts running, track flat car synchronizing moving in orbit.
Description
Technical field
The invention belongs to the field of medical instrument technology, in particular to a kind of three-dimensional space projection has the emulation electricity of manipulator
Wheelchair.The invention further relates to the working methods that a kind of projection of three-dimensional space has the simulating electric wheelchair of manipulator.
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 projections of three-dimensional space to have machinery
The simulating electric wheelchair of hand solves the problems, such as how to carry out showing wheelchair performance comprehensively to client.The present invention also provides one kind
The working method of analog simulation wheelchair, it is easy to operate, the movement track of true wheelchair, stable and reliable operation are simulated completely.
Technical solution: a kind of three-dimensional space projection has the simulating electric wheelchair of manipulator, including electric wheelchair, six are freely
Spend platform, face captures camera, projector's curtain cabinet, proj ected bottom plate, electric wheelchair controller, electric cabinet, one group of throwing
Shadow machine and hand-held remote control unit, the electric wheelchair are arranged on the upper surface of six degree of freedom platform, and the electric cabinet setting exists
On six degree of freedom platform, the electric wheelchair controller is arranged on electric wheelchair, and the electric wheelchair controller is equipped with distant
Handle is controlled, the remote-control handle is connect with electric wheelchair controller, and the motor of the electric wheelchair controller and electric wheelchair connects
It connecing, is communicated between the electric wheelchair controller and electric cabinet, projector's curtain cabinet is the rectangular configuration of lower ending opening,
Projector's curtain cabinet includes 5 side walls, and the equal projectable of each inner wall of projector's curtain cabinet, the projector
Electric wheelchair and six degree of freedom platform are provide with by curtain cabinet, and the top plate of projector's curtain cabinet is arranged in the projector
On, and projector can project image on each face of projector's curtain cabinet, and the face captures camera and is arranged in electricity
The top of projector's curtain cabinet of wheelchair face, and the pickup area of face capture camera is set as electric wheelchair institute
In region, the proj ected bottom plate is arranged in projector's curtain cabinet, and with the upper end surface of six degree of freedom platform in same
One horizontal plane, the proj ected bottom plate are equipped with projector, communicate wirelessly between the hand-held remote control unit and electric cabinet；
Wherein, the electric wheelchair is equipped with manipulator, communicates between the manipulator and hand-held remote control unit.Three-dimensional of the invention is vertical
Body circulating type simulating electric wheelchair establishes multiple scenes of artificial life and work, passes through throwing on computers by simulation software
Shadow machine is projected on the projection box body and proj ected bottom plate of rectangular configuration, by the projection box body and proj ected bottom of rectangular configuration
Board group at confined space, in conjunction with projector on projection box body and proj ected bottom plate the simulating scenes that project, like operation
Electric wheelchair travels the same in real life.When people is sitting on wheelchair, life field is shown on projector's curtain that front faces
Scape enters special scenes, such as selection park according to operator's selection, the figure of emulation is shown on projector's curtain, at this time
Operator pushes the remote-control handle of electric wheelchair as normal use electric wheelchair, and electric wheelchair controller is by electric wheelchair
The rotary speed information of wheel is transmitted in controller, and with the control Program Coordination in industrial personal computer, according to revolving speed by the traveling of wheelchair
It is mapped in the scene of emulation, it is movable in park as people is really sitting on wheelchair, simultaneously because may there is road surface in park
Situations such as being uneven or encountering upward slope, descending, six degree of freedom platform is according to the road surface advanced in the scene of emulation wheelchair
Concrete condition, six electric cylinders carry out the activity of different stretching or withdrawal, are arranged to build in six degree of freedom platform
On jolting up and down of will appear when driving on road surface of wheelchair, in conjunction with the scene on projector's curtain, wheelchair is like setting
It is travelled in body true environment, then face is cooperated to capture camera, captured human face and turn to, when face is turned left, in simulating scenes
Visual angle also turn left, turn right similarly, therefore considerably increase true experience sense, this simulating electric wheelchair can be limited
In space, the repertoire of wheelchair can be shown to user by being not required to practical movement wheelchair, can be provided as wheelchair client trueer
Real experience, is particularly suitable for exhibition or company shows use when publicizing product；For electric wheelchair more advanced at present
Settable manipulator operation, since the human action that is sitting on wheelchair is inconvenient, take higher position article when, can take by manipulator
Article, when operator is remotely controlled true manipulator by hand-held remote control unit, the virtual manipulator being projected on projection screen exists
Synchronous crawl object in simulating scenes.
Further, the projection of above-mentioned three-dimensional space has the simulating electric wheelchair of manipulator, the six degree of freedom platform
Lower section be equipped with track flat car, the lower end of projector's curtain cabinet is arranged on track flat car, and the track is flat
In orbit, the track is circular orbit for wooden handcart setting, and the track flat car and hand-held remote control unit communicate.The rail of setting
Road flat car rotates in orbit with the starting of electric wheelchair, the mobile sense of reality of electric wheelchair is formed, using circular orbit
Save space.
Further, the projection of above-mentioned three-dimensional space has the simulating electric wheelchair of manipulator, the six degree of freedom platform
It is connect including one group of servo motor, one group of electric cylinder, upper mounting plate and lower bottom base, the servo motor with electric cylinder, it is described electronic
The upper end of cylinder and the lower end surface of upper mounting plate are hinged, and the lower end of electric cylinder and the upper surface of lower bottom base are hinged, the electricity
The middle position of lower bottom base is arranged in control case；One group of servo-driver, servo control card, industry control are equipped in the electric cabinet
Machine and controller, the servo control card are connected with servo-driver, and the servo control card is connected with controller,
The controller is connected with industrial personal computer, is communicated between the controller and electric wheelchair controller.Six servo motors distinguish root
It stretches out or withdraws according to program setting control electric cylinder, therefore upper mounting plate can show the inclination of various angles, so that imitative
The operator that true wheelchair is sitting in when driving on wheelchair can tilt with the inclination of platform, like travelling wheel on true road surface
Chair.The electric cabinet of setting can accurately control the movement of servo motor.
Further, the projection of above-mentioned three-dimensional space has the simulating electric wheelchair of manipulator, and the electric wheelchair is helped
It is equipped with control panel on hand, the control panel connect with industrial personal computer, manipulator and track flat car, sets on the control panel
There is omniselector.The control panel and hand-held remote control unit of setting form double control mode, can both be set by remote control control
It is fixed, can also be by control panel, navigation device on the control panel connect with industrial personal computer, purpose is set on omniselector
Address can match in the scene of emulation with destination address, show on the control panel with travelling into virtual scene target
Electric wheelchair is oriented to destination address automatically according to travel route by the route of location, the remote-control handle for operating electric control wheelchair.
Further, above-mentioned three-dimensional space projection has a simulating electric wheelchair of manipulator, the proj ected bottom plate and
Organ type protective cover is equipped between lower bottom base, the upper end of the organ type protective cover is fixed on the lower end surface of proj ected bottom plate
On, and the lower end of organ type protective cover is fixed on the outer wall of lower bottom base, and the organ type protective cover puts down six degree of freedom
Platform is provide with.Servo motor, electric cylinder, electric cabinet and electric wire can be provide with completely by the organ type protective cover of setting, shape
It is beautiful.
Further, the projection of above-mentioned three-dimensional space has the simulating electric wheelchair of manipulator, the proj ected bottom plate
Middle position is equipped with groove, and the electric wheelchair passes through groove and is erected on upper mounting plate, and the wheel hanging of the electric wheelchair is set
It sets above groove.Middle part in wheelchair support plate opens up groove, and electric wheelchair passes through groove and is arranged in six degree of freedom platform
Upper surface on.
Further, the projection of above-mentioned three-dimensional space has the simulating electric wheelchair of manipulator, the chair of the electric wheelchair
Back is equipped with safety belt.When the safety belt of setting avoids emulation tilt angle biggish slope, operator falls down from seat
Cause danger, at the same this emulation wheelchair can also allow experiencer to experience the traveling of hazardous environment can not in real experiences wheelchair
It can be carried out the traveling on dangerous road surface, in order to avoid causing personal injury, but emulate wheelchair and completely solve this problem, pass through safety
Band people will not fall down on wheelchair completely, while experiencer being allowed to experience the approximate truth of dangerous situation, enhance simultaneously
The consciousness of wheelchair user's safety traffic.
Further, above-mentioned three-dimensional space projection has a simulating electric wheelchair of manipulator, under the electric wheelchair
Side is equipped with scissors mechanism, and the scissors mechanism is connect with controller.To during present customers, experiencer has height not
Together, in order to meet requirement of the height personnel for projector's curtain different height, so as to which best angle checks the field of emulation
The scissors mechanism of scape, setting can adjust wheelchair height.
The present invention also provides the working methods that a kind of projection of three-dimensional space has the simulating electric wheelchair of manipulator, including with
Lower step:
1) electric cabinet powers on, and projector's starting projects on projector's curtain cabinet and proj ected bottom plate respectively；
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, the road surface of wheelchair traveling is projected on proj ected bottom plate, projects day on the top plate of projector's curtain cabinet
Sky, in the scene of four side wall upslide actor or actress' Working Lifes of projector's curtain cabinet；
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) track flat car starts as electric wheelchair starts, and track flat car moves in orbit, hand-held remote control
The speed of device adjusting track flat car；
6) controller and electric wheelchair controller communicate, and controller receives the information of motor rotation in electric wheelchair controller, and
Industrial personal computer is fed back information to, industrial personal computer throws projector's curtain cabinet and bottom according to the faster rotating wheel of electric wheelchair
The simulating scenes projected on shadow plate carry out transformation movement according to electric wheelchair speed；
7) 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；
8) 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；
9) activity according to 6 electric cylinders is different, analog jolting when various road surfaces push electric wheelchair；
10) face captures camera and captures face steering, and data-signal is fed back to industrial personal computer, is entered the court in projector's curtain cabinet
Rotation direction in scape, the scene of the different angle of observation electric wheelchair up and down；
11) scene of projector is selected to grab object scene, operates hand-held remote control unit or control panel controls manipulator
Grab the object in virtual emulation scene.
A kind of above-mentioned three-dimensional space projection has the working method of the simulating electric wheelchair of manipulator, further includes following step
It is rapid:
12) operator is sitting on electric wheelchair, and safety belt is fastened；
13) control button that scissors mechanism is pressed on hand-held remote control unit or control panel, adjusts the elongation of scissors mechanism
Or withdraw, so as to adjust the height of seat of electric wheelchair；
14) route of omniselector is set, it is imitative on projector's curtain cabinet and proj ected bottom plate in electric wheelchair driving process
According to the route running of omniselector in true scene.
Above-mentioned technical proposal can be seen that the invention has the following beneficial effects: three-dimensional space of the present invention projections
Simulating electric wheelchair with manipulator, it is reasonable in design, it is readily produced.Three-dimensional space projection has the emulation of manipulator
The simulated effect of electric wheelchair is good, the closed structure formed by the projection box body and proj ected bottom plate of rectangular configuration, will
Electric wheelchair is placed in cuboid space, and the life field of simulation modeling is projected on projection box body and proj ected bottom plate
Scape, can allow experiencer to experience the scene of various situation downward driving wheelchairs, and the simulating scenes of existing vision cooperate actual simultaneously
Wheelchair, and wheelchair jolting when driving can be emulated in the six degree of freedom platform by setting with the true operation of wheelchair,
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
It being capable of the optimal driving performance to present customers wheelchair；It is provided with navigation device on electric wheelchair simultaneously, can virtually imitated
Electric wheelchair is oriented to destination address automatically in true scene, in wheelchair driving process, six degree of freedom platform cooperates simulating scenes
Carry out the flexible of height fluctuating；In order to further increase the sense of reality, track flat car is set below six degree of freedom platform, it can be
It is moved on track, as electric wheelchair starts running, track flat car synchronizing moving in orbit, in cooperation six degree of freedom platform
Up-and-down activity, build the effect that electric wheelchair really travels.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the simulating electric wheelchair that three-dimensional space of the present invention projection has manipulator；
Fig. 2 is the structural schematic diagram one for the simulating electric wheelchair that three-dimensional space of the present invention projection has manipulator；
Fig. 3 is the outline drawing for the simulating electric wheelchair that three-dimensional space of the present invention projection has manipulator；
Fig. 4 is the monnolithic case figure for the simulating electric wheelchair that three-dimensional space of the present invention projection has manipulator；
Fig. 5 is the connection of the major control element for the simulating electric wheelchair that three-dimensional space of the present invention projection has manipulator
Relation schematic diagram.
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 cabinet 4, upper cavity
41, lower chamber 42, proj ected bottom plate 5, electric wheelchair controller 6, remote-control handle 61, electric cabinet 7, servo-driver 71, servo
Motion control card 72, industrial personal computer 73, controller 74, projector 8, organ type protective cover 9, manipulator 10, track flat car 20, rail
Road 21, 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
Three-dimensional space projection as shown in figs. 1-3 and 5 has the simulating electric wheelchair of manipulator, including electric wheelchair 1, six
Freedom degree platform 2, face capture camera 3, projector's curtain cabinet 4, proj ected bottom plate 5, electric wheelchair controller 6, automatically controlled
7, one groups of projectors 8 of case and hand-held remote control unit 100, the electric wheelchair 1 are 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, and the electric wheelchair controller 6 is arranged on electric wheelchair 1, the electricity
Wheelchair controller 6 is equipped with remote-control handle 61, and the remote-control handle 61 is connect with electric wheelchair controller 6, the Electric Motor Wheel
Chair controller 6 is connect with the motor of electric wheelchair 1, is communicated between the electric wheelchair controller 6 and electric cabinet 7, the projection
Machine curtain cabinet 4 is the rectangular configuration of lower ending opening, and projector's curtain cabinet 4 includes 5 side walls, and projector's curtain
Electric wheelchair 1 and six degree of freedom platform 2 are provide with by the equal projectable of each inner wall of cabinet 4, projector's curtain cabinet 4,
The projector 8 is arranged on the top plate of projector's curtain cabinet 4, and projector 8 can be in each of projector's curtain cabinet 4
Image is projected on face, the face captures the top that projector's curtain cabinet 4 of 1 face of electric wheelchair is arranged in camera 3, and
And the pickup area of face capture camera 3 is set as 1 region of electric wheelchair, the setting of proj ected bottom plate 5 is projecting
In machine curtain cabinet 4, and with the upper end surface of six degree of freedom platform 2 in same level, the proj ected bottom plate 5 is equipped with
Projector 8 communicates wirelessly between the hand-held remote control unit 100 and electric cabinet 7；Wherein, the electric wheelchair 1 is equipped with
Manipulator 10 communicates between the manipulator 10 and hand-held remote control unit 100.The six degree of freedom platform 2 of the application includes one group
21, one groups of electric cylinders 22 of servo motor, upper mounting plate 23 and lower bottom base 24, the servo motor 21 is connect with electric cylinder 22, described
The upper end of electric cylinder 22 and the lower end surface of upper mounting plate 23 are hinged, and the upper surface of the lower end of electric cylinder 22 and lower bottom base 24
Hingedly, the middle position of lower bottom base 24 is arranged in the electric cabinet 7；It is equipped with one group of servo-driver 71 in the electric cabinet 7, watches
Motion control card 72, industrial personal computer 73 and controller 74 are taken, the servo control card 72 and servo-driver 71 connect, described
Servo control card 72 and controller 74 connect, and the controller 74 and industrial personal computer 73 connect, the controller 74 with it is electronic
It is communicated between wheelchair controller 6.In addition, proj ected bottom plate 5 is arranged in projector's curtain cabinet 4, and proj ected bottom plate 5 will
Projector's curtain cabinet 4 is divided into upper cavity 41 and lower chamber 42, and the electric wheelchair 1, face capture camera 3, Electric Motor Wheel
Chair controller 6, projector 8 and hand-held remote control unit 100 are respectively positioned in upper cavity 41, the six degree of freedom platform 2 and electric cabinet 7
It is arranged in lower chamber 42.Electric wheelchair 1 is wrapped in a closed square by proj ected bottom plate 5 and projector's curtain cabinet 4
In body, projected by projector 8 on the inner wall of proj ected bottom plate 5 and projector's curtain cabinet 4, so that proj ected bottom plate
5 and projector's curtain cabinet 4 formed cuboid formed real work and life scene.Operator is sitting on electric wheelchair 1
When travelling wheelchair, the projection on proj ected bottom plate 5 and projector's curtain cabinet 4 converts picture according to the movement of electric wheelchair 1,
Wheelchair is formed in the feeling of true road traveling, for example, wheelchair moves forward, the scenery of two sides is moved backward, and with wheel
The movement of chair is projected in proj ected bottom plate 5 as the sky of projector curtain cabinet 4 with movement, substantially increases true
Operate the experience sense of wheelchair
Meanwhile the lower section of six degree of freedom platform 2 as shown in Figure 4 is equipped with track flat car 20, projector's curtain cabinet 4
Lower end is arranged on track flat car 20, and the track flat car 20 is arranged on track 21, and the track 21 is circular rails
Road, the track flat car 20 are communicated with hand-held remote control unit 100.Starting electric wheelchair 1 starts to move, and track flat car 20 is same
Step starting, is moved on track 21.
Also, the handrail of electric wheelchair 1 is equipped with control panel 13, the control panel 13 and industrial personal computer 73, manipulator
10 and track flat car 20 connect, the control panel 13 be equipped with omniselector 14.Leading like electronic map on omniselector 14
Boat is the same, and operator is guided to the left or to turn right in simulating scenes, guides operator to reach and witnesses ground, and operator is according to leading
The device that navigates rotates remote-control handle 61, and the vehicle wheel rotational speed of true electric wheelchair 1 can regulate the speed or direction, and control machine acquires Electric Motor Wheel
The wheel information of chair, to simulate the traveling of electric wheelchair in virtual scene.
In order to keep good appearance, organ type protective cover 9, the wind are equipped between proj ected bottom plate 5 and lower bottom base 24
The upper end of qin formula shield 9 is fixed on the lower end surface of proj ected bottom plate 5, and the lower end of organ type protective cover 9 is fixed
On the outer wall of lower bottom base 24, six degree of freedom platform 2 is provide with by the organ type protective cover 9.Organ type protective cover 9 will be arranged
The outside of the more six degree of freedom platform 2 of harness is provide with, and electric wire is all concentrated in six degree of freedom platform 2.Further,
In order to realize 1 vehicle wheel rotation of electric wheelchair, the middle position of proj ected bottom plate 5 is equipped with groove 51, and the electric wheelchair 1 is worn
It crosses groove 51 to be erected on upper mounting plate 23, the wheel hanging of the electric wheelchair 1 is arranged above groove 51.
In addition, prevent forward leaning angle from crossing ambassador operator to guarantee safety and fall down from electric wheelchair 1, Electric Motor Wheel
The chair back of chair 1 is equipped with safety belt 11.Further, the lower section of electric wheelchair 1 is equipped with scissors mechanism 12, the scissors mechanism 12
It is connect with controller 74.The effect that scissors mechanism 12 is arranged is since different operator's height is different, in order to make at operator
In the optimum experience angle of projector's curtain 4.
On the basis of above structure, a kind of work side of simulating electric wheelchair of the three-dimensional space projection with manipulator
Method, comprising the following steps:
1) electric cabinet 7 powers on, and projector 8 starts, and projects on projector's curtain cabinet 4 and proj ected bottom plate 5 respectively；
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, the road surface that electric wheelchair 1 travels is projected on proj ected bottom plate 5, in projector's curtain cabinet 4
Top plate on project sky, in the scene of four side wall upslide actor or actress' Working Lifes of projector's curtain cabinet 4；
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) track flat car 20 starts as electric wheelchair 1 starts, and track flat car 20 moves on track 21, holds
The speed of 100 adjusting track flat car 20 of formula remote controler；
6) controller 74 and electric wheelchair controller 6 communicate, and controller 74 receives the letter of motor rotation in electric wheelchair controller 6
Breath, and feeds back information to industrial personal computer 73, and industrial personal computer 73 is according to the faster rotating wheel of electric wheelchair 1, by projector's curtain case
The simulating scenes projected on body 4 and proj ected bottom plate 5 carry out transformation movement according to 1 speed of electric wheelchair；
7) 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；
8) 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；
9) activity according to 6 electric cylinders 22 is different, analog jolting when various road surfaces push electric wheelchair 1；
10) face captures camera 3 and captures facial steering, data-signal is fed back to industrial personal computer 73, in projector's curtain cabinet 4
Direction, the scene of the different angle of observation electric wheelchair 1 up and down are moved in upper scene transfer；
11) scene of projector 8 is selected to grab object scene, operates hand-held remote control unit 100 or control panel 13 controls
Manipulator 10 grabs the object in virtual emulation scene；
12) operator is sitting on electric wheelchair 1, and safety belt 11 is fastened；
13) control button of 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；
14) route of omniselector 14 is set, in 1 driving process of electric wheelchair, in projector's curtain cabinet 4 and proj ected bottom plate 5
On simulating scenes according to 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. the simulating electric wheelchair that a kind of three-dimensional space projection has manipulator, it is characterised in that: including electric wheelchair (1), six
Freedom degree platform (2), face capture camera (3), projector's curtain cabinet (4), proj ected bottom plate (5), electric wheelchair control
Device (6), electric cabinet (7), one group of projector (8) and hand-held remote control unit (100), electric wheelchair (1) setting are free six
It spends on the upper surface of platform (2), the electric cabinet (7) is arranged on six degree of freedom platform (2), the electric wheelchair controller
(6) it is arranged on electric wheelchair (1), the electric wheelchair controller (6) is equipped with remote-control handle (61), the remote-control handle
(61) it is connect with electric wheelchair controller (6), the electric wheelchair controller (6) connect with the motor of electric wheelchair (1), described
It is communicated between electric wheelchair controller (6) and electric cabinet (7), projector's curtain cabinet (4) is the rectangle knot of lower ending opening
Structure, projector's curtain cabinet (4) include 5 side walls, and the equal projectable of each inner wall of projector's curtain cabinet (4),
Electric wheelchair (1) and six degree of freedom platform (2) are provide with by projector's curtain cabinet (4), and projector (8) setting exists
On the top plate of projector's curtain cabinet (4), and projector (8) can project figure on each face of projector's curtain cabinet (4)
Picture, the face capture camera (3) and are arranged in the top of projector's curtain cabinet (4) of electric wheelchair (1) face, and people
The pickup area that face captures camera (3) is set as electric wheelchair (1) region, and proj ected bottom plate (5) setting is being thrown
In shadow machine curtain cabinet (4), and with the upper end surface of six degree of freedom platform (2) in same level, the proj ected bottom plate
(5) projector (8) are equipped with, are communicated wirelessly between the hand-held remote control unit (100) and electric cabinet (7)；Wherein, described
Electric wheelchair (1) is equipped with manipulator (10), communicates between the manipulator (10) and hand-held remote control unit (100).
2. the simulating electric wheelchair that three-dimensional space projection according to claim 1 has manipulator, it is characterised in that: described
The lower section of six degree of freedom platform (2) is equipped with track flat car (20), and the lower end setting of projector's curtain cabinet (4) is in-orbit
On road flat car (20), the track flat car (20) is arranged on track (21), and the track (21) is circular orbit, described
Track flat car (20) and hand-held remote control unit (100) communicate.
3. the simulating electric wheelchair that three-dimensional space projection according to claim 2 has manipulator, it is characterised in that: described
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), institute
It states servo motor (21) to connect with electric cylinder (22), the upper end of the electric cylinder (22) and the lower end surface of upper mounting plate (23) are cut with scissors
It connects, and the lower end of electric cylinder (22) and the upper surface of lower bottom base (24) are hinged, the electric cabinet (7) is arranged in lower bottom base
(24) middle position；One group of servo-driver (71), servo control card (72), industry control are equipped in the electric cabinet (7)
Machine (73) and controller (74), the servo control card (72) and servo-driver (71) connection, the servo motion control
Fabrication (72) and controller (74) connection, the controller (74) and industrial personal computer (73) connect, the controller (74) with it is electronic
Wheelchair controller communicates between (6).
4. the simulating electric wheelchair that three-dimensional space projection according to claim 3 has manipulator, it is characterised in that: described
The handrail of electric wheelchair (1) is equipped with control panel (13), the control panel (13) and industrial personal computer (73), manipulator (10) and
Track flat car (20) connection, the control panel (13) are equipped with omniselector (14).
5. the simulating electric wheelchair that three-dimensional space projection according to claim 3 has manipulator, it is characterised in that: described
Organ type protective cover (9) are equipped between proj ected bottom plate (5) and lower bottom base (24), the upper end of the organ type protective cover (9)
It is fixed on the lower end surface of proj ected bottom plate (5), and the lower end of organ type protective cover (9) is fixed on the outer of lower bottom base (24)
On wall, six degree of freedom platform (2) is provide with by the organ type protective cover (9).
6. the simulating electric wheelchair that three-dimensional space projection according to claim 1 has manipulator, it is characterised in that: described
The middle position of proj ected bottom plate (5) is equipped with groove (51), and the electric wheelchair (1) passes through groove (51) and is erected at upper mounting plate
(23) on, the wheel hanging setting of the electric wheelchair (1) is above groove (51).
7. the simulating electric wheelchair that three-dimensional space projection according to claim 1 has manipulator, it is characterised in that: described
The chair back of electric wheelchair (1) is equipped with safety belt (11).
8. the simulating electric wheelchair that three-dimensional space projection according to claim 7 has manipulator, it is characterised in that: described
The lower section of electric wheelchair (1) is equipped with scissors mechanism (12), and the scissors mechanism (12) connect with controller (74).
9. three-dimensional space projection according to claim 4 or 5 has the working method of the simulating electric wheelchair of manipulator,
It is characterized in that: the following steps are included:
1) electric cabinet (7) powers on, projector (8) starting, respectively in projector's curtain cabinet (4) and proj ected bottom plate (5) upslide
Shadow；
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, the road surface of wheelchair (1) traveling is projected on proj ected bottom plate (5), in projector
Sky is projected on the top plate of curtain cabinet (4), in four side wall upslide actor or actress' Working Lifes of projector's curtain cabinet (4)
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) track flat car (20) starts as electric wheelchair (1) starts, and track flat car (20) is on track (21)
It is mobile, the speed of hand-held remote control unit (100) adjusting track flat car (20)；
6) 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 cabinet (4) and proj ected bottom plate (5) are converted according to electric wheelchair (1) speed
It is mobile；
7) 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)；
8) 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)；
9) activity according to 6 electric cylinders (22) is different, analog jolting when various road surfaces push electric wheelchair (1)；
10) face captures camera (3) and captures face steering, data-signal is fed back to industrial personal computer (73), in projector's curtain
Direction, the scene of the different angle of observation electric wheelchair (1) up and down are moved in scene transfer on cabinet (4)；
11) scene of projector (8) is selected to grab object scene, operates hand-held remote control unit (100) or control panel
(13) object in control manipulator (10) crawl virtual emulation scene.
10. three-dimensional space projection according to claim 7 or 8 has the working method of the simulating electric wheelchair of manipulator,
It is characterized by also including following steps:
12) operator is sitting on electric wheelchair (1), and safety belt (11) is fastened；
13) 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)；
14) route of omniselector (14) is set, in electric wheelchair (1) driving process, in projector's curtain cabinet (4) and bottom throwing
According to the route running of omniselector (14) in simulating scenes on shadow plate (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810897407.7A CN109256065A (en) | 2018-08-08 | 2018-08-08 | A kind of three-dimensional space projection has the simulating electric wheelchair and its working method of manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810897407.7A CN109256065A (en) | 2018-08-08 | 2018-08-08 | A kind of three-dimensional space projection has the simulating electric wheelchair and its working method of manipulator |
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| CN109256065A true CN109256065A (en) | 2019-01-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810897407.7A Pending CN109256065A (en) | 2018-08-08 | 2018-08-08 | A kind of three-dimensional space projection has the simulating electric wheelchair and its working method of manipulator |
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