CN109256066A - A kind of stereo-circulation formula emulation wheelchair and its working method - Google Patents
A kind of stereo-circulation formula emulation wheelchair and its working method Download PDFInfo
- Publication number
- CN109256066A CN109256066A CN201810897452.2A CN201810897452A CN109256066A CN 109256066 A CN109256066 A CN 109256066A CN 201810897452 A CN201810897452 A CN 201810897452A CN 109256066 A CN109256066 A CN 109256066A
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- wheelchair
- projector
- cabinet
- stereo
- bottom plate
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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 stereo-circulation formulas to emulate wheelchair, belong to the field of medical instrument technology, including wheelchair, six degree of freedom platform, face capture camera, projector's curtain cabinet, proj ected bottom plate, one group of speed probe, electric cabinet, one group of projector and hand-held remote control unit.The application simulated effect is good, 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, reaches optimal experience from vision and two aspect of movement, can allow the actual performance of client's overall understanding wheelchair；The rectangular configuration wherein formed by projector's curtain cabinet and proj ected bottom plate, the projection of simulating scenes can be carried out by projector in six faces of cuboid, wheelchair is wrapped in cuboid, the scene that wheelchair operation person really places oneself in the midst of actual life or work is built.
Description
Technical field
The invention belongs to the field of medical instrument technology, in particular to a kind of stereo-circulation formula emulates wheelchair.The present invention also relates to
And a kind of working method of stereo-circulation formula emulation 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 stereo-circulation formulas to emulate wheelchair, solution
Determined how to client carry out comprehensively show wheelchair performance the problem of.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 stereo-circulation formula emulation wheelchair, including wheelchair, six degree of freedom platform, face capture camera,
Projector's curtain cabinet, proj ected bottom plate, one group of speed probe, electric cabinet, one group of projector and hand-held remote control unit, it is described
Wheelchair is arranged on the upper surface of six degree of freedom platform, and the electric cabinet is arranged on six degree of freedom platform, the revolution speed sensing
Device is arranged on the wheel of wheelchair, and projector's curtain cabinet is the rectangular configuration of lower ending opening, projector's curtain case
Body includes 5 side walls, and the equal projectable of each inner wall of projector's curtain cabinet, projector's curtain cabinet by wheelchair and
Six degree of freedom platform is provide with, and the projector is arranged on the top plate of projector's curtain cabinet, and projector can project
Image is projected on each face of machine curtain cabinet, the face captures projector's curtain cabinet that wheelchair face is arranged in camera
Top, and face captures the pickup area of camera and is set as wheelchair region, and the proj ected bottom plate setting is being thrown
In shadow machine curtain cabinet, and with the upper end surface of six degree of freedom platform in same level, the proj ected bottom plate is equipped with
Projector communicates wirelessly between the hand-held remote control unit and electric cabinet.Stereo-circulation formula of the invention emulates wheelchair,
By simulation software on computer, multiple scenes of artificial life and work are established, projector's curtain case is projected in by projector
On intracorporal curtain, people is sitting on wheelchair, and surrounding is that projector is projected in the life on projector's curtain cabinet and proj ected bottom plate
In wheelchair is wrapped in by the cuboid structure that scene living, projector's curtain cabinet and proj ected bottom plate are formed, by projection like
The operator on wheelchair will be sitting in place oneself in the midst of in true environment, special scenes are entered according to operator's selection, such as select
Park shows the figure of emulation on projection box body inside story cloth, the rotating wheel as normal use of operator's rotation at this time
Chair handwheel, speed probe detect the revolving speed of two runners of wheelchair respectively, and the traveling of wheelchair is mapped to emulation according to revolving speed
It is movable in park as people is really sitting on wheelchair in scene, simultaneously because in park road surface may be uneven or
Situations such as encountering upward slope, descending, the concrete condition on the road surface that six degree of freedom platform is advanced in the scene according to emulation wheelchair, six
Electric cylinder carries out the activity of different stretching or withdrawal, to build the wheelchair being arranged on six degree of freedom platform on road surface
On will appear when driving jolt up and down, in conjunction with the scene on projector's curtain, wheelchair is like staying in true environment row
It sails, then face is cooperated to capture camera, capture human face and turn to, when face is turned left, the visual angle in simulating scenes is also wanted to turn left,
It turns right similarly, therefore considerably increases true experience sense, this emulation wheelchair can be not required to practical movement in a limited space
Wheelchair can show the repertoire of wheelchair to user, and more true experience can be provided as wheelchair client, is particularly suitable for
Exhibition or company use when showing publicity product；Surface conditions especially are projected on proj ected bottom plate, wheelchair is arranged
On proj ected bottom plate, the feeling that wheelchair is placed in the road surface of real space is formed, the wheel of wheelchair is rotated, on proj ected bottom plate
The road surface of projection is mobile, forms the wheelchair sense of reality mobile on road surface.
Further, above-mentioned stereo-circulation formula emulates wheelchair, and the proj ected bottom plate is arranged in projector's curtain cabinet
It is interior, and projector's curtain cabinet is divided into upper cavity and lower chamber by proj ected bottom plate, and the wheelchair, face capture camera shooting
Head, speed probe, projector and hand-held remote control unit are respectively positioned in upper cavity, the six degree of freedom platform and electric cabinet setting
In lower chamber.Projector's curtain cabinet is divided into upper layer and lower layer, is projected out the scene of emulation in upper chamber body in six faces,
Like wheelchair is placed oneself in the midst of in real scene, movable element is set, and overall structure is clear in lower layer's cavity.
Further, above-mentioned stereo-circulation formula emulates wheelchair, and the six degree of freedom platform includes one group of servo motor, one
Group electric cylinder, upper mounting plate and lower bottom base, the servo motor are connect with electric cylinder, the upper end of the electric cylinder and upper mounting plate
Lower end surface is hinged, and the lower end of electric cylinder and the upper surface of lower bottom base are hinged, and the electric cabinet is arranged in lower bottom base
Between position.Six servo motors control electric cylinder stretching according to program setting respectively or withdraw, therefore upper mounting plate can show
The inclination of various angles, so that the operator that emulation wheelchair is sitting in when driving on wheelchair can incline with the inclination of platform
Tiltedly, like travelling wheelchair on true road surface.
Further, above-mentioned stereo-circulation formula emulates wheelchair, and organ is equipped between the proj ected bottom plate and lower bottom base
Formula shield, the upper end of the organ type protective cover is fixed on the lower end surface of proj ected bottom plate, and organ type protective cover
Lower end be fixed on the outer wall of lower bottom base, six degree of freedom platform is provide with by the organ type protective cover.The organ of setting
Servo motor, electric cylinder, electric cabinet and electric wire can be provide with completely by formula shield, good appearance.
Further, above-mentioned stereo-circulation formula emulates wheelchair, and the proj ected bottom plate is equipped with the first groove and second
Groove, the quantity of first groove is two, and the lower section of wheel chair wheel is arranged in the first groove, and second groove is set
It sets below wheelchair, and wheelchair passes through the second groove and is erected on the upper surface of six degree of freedom platform.Wheelchair is vacantly set up
Get up, especially the wheel of wheelchair, operator is enabled to rotate wheel chair wheel, emulation wheelchair really pushes, and improves body
Test sense.
Further, above-mentioned stereo-circulation formula emulates wheelchair, and the chair back of the wheelchair is equipped with safety belt.The peace of setting
When full band avoids emulation tilt angle biggish slope, operator falls down from seat causes danger, while this emulation wheel
Chair 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, with
Exempt to cause personal injury, but emulate wheelchair and completely solve this problem, will not be fallen on wheelchair completely by safety belt people
Get off, while experiencer being allowed to experience the approximate truth of dangerous situation, while enhancing wheelchair user's safety traffic
Consciousness.
Further, above-mentioned stereo-circulation formula emulates wheelchair, and the lower section of the wheelchair is equipped with scissors mechanism.To client's exhibition
During showing, experiencer has the difference of height, in order to meet requirement of the height personnel for projector's curtain different height, with
Just can best angle check the scene of emulation, the scissors mechanism of setting can adjust wheelchair height.
Further, above-mentioned stereo-circulation formula emulates wheelchair, is equipped with one group of servo-driver, servo in the electric cabinet
Motion control card, industrial personal computer and controller, the servo control card are connected with servo-driver, the servo control
Card is connected with controller, and the controller is connected with industrial personal computer.The servo for the control six degree of freedom platform being arranged in electric cabinet
Driver, servo control card, industrial personal computer and controller can guarantee that six degree of freedom platform stable is efficiently run.
The present invention also provides a kind of working methods of stereo-circulation formula emulation wheelchair, comprising the following steps:
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 selection projector selects the scene of wheelchair activities, and determines and enter scene, the bottom of at
The road surface that wheelchair traveling is projected on portion's projection plate, projects sky on the top plate of projector's curtain cabinet, in projector's curtain case
The scene of four side wall upslide actor or actress' Working Lifes of body；
4) operator being sitting on wheelchair rotates the handwheel of wheelchair, the vehicle wheel rotation of wheelchair, and speed probe acquires wheelchair two
The revolving speed of a wheel, and feed back to controller；
5) industrial personal computer receives the signal of controller, and controller sends out signal according to the wheelchair activities scene set in industrial personal computer
Give servo control card；
6) 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；
7) activity according to 6 electric cylinders is different, analog jolting when various road surfaces push wheelchair；
8) controller is according to the difference of the revolving speed of the speed probe acquisition on two wheels of wheelchair, by the conversion of industrial personal computer,
The rotation of wheelchair is formed in scene on projector's curtain；
9) face captures camera and captures face steering, data-signal is fed back to industrial personal computer, on projector's curtain in scene
Rotation direction, the scene of the different angle of observation wheelchair up and down.
A kind of working method of above-mentioned analog simulation wheelchair, further comprising the steps of:
10) operator is sitting on wheelchair, and safety belt is fastened；
11) control button that scissors mechanism is pressed on hand-held remote control unit adjusts the elongation or withdrawal of scissors mechanism, to adjust
The height of seat of whole wheelchair.
Above-mentioned technical proposal can be seen that the invention has the following beneficial effects: stereo-circulation formula of the present invention is imitative
True wheelchair, it is reasonable in design, it is readily produced.The simulated effect that stereo-circulation formula emulates wheelchair is good, can allow experiencer
The scene of various situation downward driving wheelchairs is experienced, 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, from two sides of vision and movement
Face reaches optimal experience, and client can be allowed to fully understand the actual performance of wheelchair, this emulation wheelchair can be optimal to client
Show the driving performance of wheelchair；The rectangular configuration wherein formed by projector's curtain cabinet and proj ected bottom plate, can be in square
The projection for carrying out simulating scenes in six faces of body by projector, wheelchair is wrapped in cuboid, builds wheelchair behaviour
Author really places oneself in the midst of the scene of actual life or work, increases the sense of reality of emulation wheelchair.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that stereo-circulation formula of the present invention emulates wheelchair；
Fig. 2 is the structural schematic diagram one that stereo-circulation formula of the present invention emulates wheelchair；
Fig. 3 is the monnolithic case structure chart that stereo-circulation formula of the present invention emulates wheelchair；
Fig. 4 is the connection relationship diagram for the major control element that stereo-circulation formula of the present invention emulates wheelchair.
In figure: wheelchair 1, safety belt 11, scissors mechanism 12, six degree of freedom platform 2, servo motor 21, electric cylinder 22, upper flat
Platform 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,
First groove 51, the second groove 52, speed probe 6, electric cabinet 7, servo-driver 71, servo control card 72, industry control
Machine 73, controller 74, projector 8, organ type protective cover 9, 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
Stereo-circulation formula as shown in Figs 1-4 emulates wheelchair, including wheelchair 1, six degree of freedom platform 2, face capture camera shooting
First 3, projector's curtain cabinet 4,5, one groups of speed probes 6 of proj ected bottom plate, 7, one groups of projectors 8 of electric cabinet and hand-held are distant
Device 100 is controlled, the wheelchair 1 is arranged on the upper surface of six degree of freedom platform 2, and the electric cabinet 7 is arranged in six degree of freedom platform 2
On, the speed probe 6 is arranged on the wheel of wheelchair 1, and projector's curtain cabinet 4 is the rectangle knot of lower ending opening
Structure, projector's curtain cabinet 4 includes 5 side walls, and the equal projectable of each inner wall of projector's curtain cabinet 4, described
Wheelchair 1 and six degree of freedom platform 2 are provide with by projector's curtain cabinet 4, and the projector 8 is arranged in projector's curtain cabinet 4
Top plate on, and projector 8 can project image on each face of projector's curtain cabinet 4, and the face captures camera 3
The top of projector's curtain cabinet 4 of 1 face of wheelchair is set, and the pickup area of face capture camera 3 is set as taking turns
1 region of chair, the proj ected bottom plate 5 is arranged in projector's curtain cabinet 4, and the upper end with six degree of freedom platform 2
Face is in same level, and the proj ected bottom plate 5 is equipped with projector 8, the hand-held remote control unit 100 and electric cabinet 7 it
Between communicate wirelessly.Wherein, proj ected bottom plate 5 is arranged in projector's curtain cabinet 4, and proj ected bottom plate 5 will project
Machine curtain cabinet 4 is divided into upper cavity 41 and lower chamber 42, and the wheelchair 1, face capture camera 3, speed probe 6, throw
Shadow machine 8 and hand-held remote control unit 100 are respectively positioned in upper cavity 41, and the six degree of freedom platform 2 and electric cabinet 7 are arranged in lower chamber
In 42.Wheelchair 1 is wrapped in a sealed angular body by proj ected bottom plate 5 and projector's curtain cabinet 4, in proj ected bottom
It is projected by projector 8 on the inner wall of plate 5 and projector's curtain cabinet 4, so that proj ected bottom plate 5 and projector's curtain cabinet
4 cuboids formed form the scene of real work and life.When operator is sitting in traveling wheelchair on wheelchair 1, proj ected bottom plate 5
Picture is converted according to the movement of wheelchair 1 with the projection on projector curtain cabinet 4, forms wheelchair in the sense of true road traveling
Feel, for example, wheelchair moves forward, the scenery of two sides is moved backward, and with the movement of wheelchair, is projected in proj ected bottom plate 5
With movement as the sky of projector curtain cabinet 4, the experience sense of true operation wheelchair is substantially increased.In addition, six from
Include one group of servo motor, 21, one groups of electric cylinders 22, upper mounting plate 23 and lower bottom base 24 by degree platform 2, the servo motor 21 with
Electric 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
Hinged with the upper surface of lower bottom base 24, the middle position of lower bottom base 24 is arranged in the electric cabinet 7.One group is equipped in electric cabinet 7
Servo-driver 71, servo control card 72, industrial personal computer 73 and controller 74, the servo control card 72 and servo are driven
Dynamic device 71 connects, and the servo control card 72 and controller 74 connect, and the controller 74 and industrial personal computer 73 connect.
Again, in order to keep good appearance, prevent the disengaging harness of electric cabinet and the equal components of electric cylinder 22 from influencing beautiful,
Organ type protective cover 9 is equipped between proj ected bottom plate 5 and lower bottom base 24, the upper end of the organ type protective cover 9 is fixed on bottom
On the lower end surface of portion's projection plate 5, and the lower end of organ type protective cover 9 is fixed on the outer wall of lower bottom base 24, the organ
Six degree of freedom platform 2 is provide with by formula shield 9.The outer of the more six degree of freedom platform 2 of harness will be arranged in organ type protective cover 9
Side cover is set, and electric wire is all concentrated in six degree of freedom platform 2.
Again, for the authenticity that operator experiences promotion wheelchair, by 1 integrated hanging of wheelchair, specific and structure is bottom
Projection plate 5 is equipped with the first groove 51 and the second groove 52, and the quantity of first groove 51 is two, and the first groove 51
The lower section of 1 wheel of wheelchair is set, and second groove 52 is arranged below wheelchair 1, and wheelchair 1 passes through 52 frame of the second groove
It is located on the upper surface of six degree of freedom platform 2.
In addition, the application stereo-circulation formula emulation wheelchair can the biggish abrupt slope of design grade, operator push wheelchair exist
Wheelchair is pushed on projector's curtain 4 on the abrupt slope of virtual scene, six degree of freedom platform 2 is acted according to the specific gradient, is sitting in
Operator on wheelchair 1 may lean forward, and in order to guarantee safety, prevent forward leaning angle from crossing ambassador operator and fall down from wheelchair 1,
The chair back of wheelchair 1 is equipped with safety belt 11.Further, since different operator's height is different, in order to make operator be in projection
The optimum experience angle of machine curtain 4 is equipped with scissors mechanism 12 in the lower section of wheelchair 1, and the lifting of scissors mechanism 12 passes through hand
The control of formula remote controler 100 is held, facilitates operator that height is adjusted flexibly.
On the basis of above structure, a kind of working method of stereo-circulation formula emulation wheelchair, 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 selects the projection interface of projector 8, selects the movable scene of wheelchair 1, and determine and enter field
Scape projects the road surface that wheelchair 1 travels on proj ected bottom plate 5, projects sky on the top plate of projector's curtain cabinet 4, throwing
The scene of four side wall upslide actor or actress' Working Lifes of shadow machine curtain cabinet 4；
4) operator being sitting on wheelchair 1 rotates the handwheel of wheelchair 1, the vehicle wheel rotation of wheelchair 1,6 collection wheel of speed probe
The revolving speed of 1 two wheels of chair, and feed back to controller 74；
5) industrial personal computer 73 receives the signal of controller 74, and controller 74 is according to the wheelchair activities scene set in industrial personal computer 73
Send a signal to servo control card 72；
6) servo control card 72 sends the signal to servo-driver 71, and servo-driver 71 drives 21 turns of servo motor
It is dynamic, it stretches out or withdraws to control electric cylinder 22；
7) activity according to 6 electric cylinders 22 is different, analog jolting when various road surfaces push wheelchair 1；
8) difference for the revolving speed that controller 74 is acquired according to the speed probe 6 on 1 two wheels of wheelchair, by industrial personal computer 73
Conversion forms the rotation of wheelchair 1 on projector's curtain 4 in scene；
9) face captures camera 3 and captures facial steering, and data-signal is fed back to industrial personal computer 73, is entered the court in projector's curtain 4
Rotation direction in scape, the scene of the different angle of observation wheelchair 1 up and down；
10) operator is sitting on wheelchair 1, and safety belt 11 is fastened；
11) control button of scissors mechanism 12 is pressed on hand-held remote control unit 100, adjusts the elongation or receipts of scissors mechanism 12
It returns, so as to adjust the height of seat of wheelchair 1.
The stereo-circulation formula of the application emulates wheelchair, establishes out various field in people's life by virtual emulation
Scape, a variety of situations such as road, park, bumpy road acquire the wheel velocity of wheelchair 1 by speed probe 6, and will letter
Industrial personal computer number is fed back to, industrial personal computer obtains tach signal, in conjunction with the information of road surface number of the virtual scene of software set in industrial personal computer
According to control six degree of freedom platform 2 carries out lifting action, so that the wheelchair 1 being arranged on six degree of freedom platform is with together
Activity, operator are sitting on wheelchair 1 and rotate wheelchair, in conjunction with activity and the virtual emulation scene in front of six degree of freedom platform 2, battalion
Produce the process that experiencer really pushes wheelchair.This stereo-circulation formula emulation wheelchair can also allow experiencer to experience the gradient compared with main road
The feeling of face traveling wheelchair.This stereo-circulation formula emulation wheelchair cannot only be used in the show-and-tell platform of exhibition or company,
During wheelchair manufacturer designs wheelchair, the row of wheelchair simulating realistic wheelchair can also be emulated by this stereo-circulation formula
Into, whether can really be played by this safety measure of equipment test wheelchair in dangerous road traveling protection it is handicapped
People, this emulation wheelchair can be used for detecting the performance of actual production wheelchair, provides true reference value, improve for research staff
The design of wheelchair improves safety and the comfort of wheelchair.
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 stereo-circulation formula emulates wheelchair, it is characterised in that: captured including wheelchair (1), six degree of freedom platform (2), face
Camera (3), projector's curtain cabinet (4), proj ected bottom plate (5), one group of speed probe (6), electric cabinet (7), one group of throwing
Shadow machine (8) and hand-held remote control unit (100), the wheelchair (1) are arranged on the upper surface of six degree of freedom platform (2), the electricity
It controls case (7) to be arranged on six degree of freedom platform (2), the speed probe (6) is arranged on the wheel of wheelchair (1), the throwing
Shadow machine curtain cabinet (4) is the rectangular configuration of lower ending opening, and projector's curtain cabinet (4) includes 5 side walls, and is projected
The equal projectable of each inner wall of machine curtain cabinet (4), projector's curtain cabinet (4) is by wheelchair (1) and six degree of freedom platform
(2) it is provide with, the projector (8) is arranged on the top plate of projector's curtain cabinet (4), and projector (8) can project
Image is projected on each face of machine curtain cabinet (4), the face captures camera (3) setting in the projection of wheelchair (1) face
The top of machine curtain cabinet (4), and the pickup area of face capture camera (3) is set as wheelchair (1) region, it is described
Proj ected bottom plate (5) setting is interior in projector's curtain cabinet (4), and with the upper end surface of six degree of freedom platform (2) in same
Horizontal plane, the proj ected bottom plate (5) is equipped with projector (8), between the hand-held remote control unit (100) and electric cabinet (7)
It communicates wirelessly.
2. stereo-circulation formula according to claim 1 emulates wheelchair, it is characterised in that: proj ected bottom plate (5) setting
In projector's curtain cabinet (4), and proj ected bottom plate (5) by projector's curtain cabinet (4) be divided into upper cavity (41) and
Lower chamber (42), the wheelchair (1), face capture camera (3), speed probe (6), projector (8) and hand-held remote control
Device (100) is respectively positioned in upper cavity (41), and the six degree of freedom platform (2) and electric cabinet (7) setting are in lower chamber (42).
3. stereo-circulation formula according to claim 1 emulates wheelchair, it is characterised in that: six degree of freedom platform (2) packet
Include 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) and electricity
Dynamic cylinder (22) connection, the upper end of the electric cylinder (22) and the lower end surface of upper mounting plate (23) are hinged, and electric cylinder (22)
The upper surface of lower end and lower bottom base (24) is hinged, middle position of electric cabinet (7) setting in lower bottom base (24).
4. stereo-circulation formula according to claim 3 emulates wheelchair, it is characterised in that: the proj ected bottom plate (5) and under
Organ type protective cover (9) are equipped between pedestal (24), the upper end of the organ type protective cover (9) is fixed on proj ected bottom plate
(5) on lower end surface, and the lower end of organ type protective cover (9) is fixed on the outer wall of lower bottom base (24), the organ type
Six degree of freedom platform (2) is provide with by shield (9).
5. stereo-circulation formula according to claim 1 emulates wheelchair, it is characterised in that: set on the proj ected bottom plate (5)
There are the first groove (51) and the second groove (52), the quantity of first groove (51) is two, and the first groove (51) is set
It sets in the lower section of wheelchair (1) wheel, the second groove (52) setting is below wheelchair (1), and wheelchair (1) is recessed across second
Slot (52) is erected on the upper surface of six degree of freedom platform (2).
6. stereo-circulation formula according to claim 1 emulates wheelchair, it is characterised in that: set on the chair back of the wheelchair (1)
There are safety belt (11).
7. stereo-circulation formula according to claim 6 emulates wheelchair, it is characterised in that: the lower section of the wheelchair (1) is equipped with
Scissors mechanism (12).
8. stereo-circulation formula according to claim 2 emulates wheelchair, it is characterised in that: be equipped with one in the electric cabinet (7)
Group 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 is connected with industrial personal computer (73).
9. the working method of stereo-circulation formula emulation wheelchair according to claim 8, it is characterised in that: including following step
It is rapid:
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) hand-held remote control unit (100) selection projector (8) projection interface, select wheelchair (1) movable scene, and determine into
Enter scene, the road surface of wheelchair (1) traveling is projected on proj ected bottom plate (5), is projected on the top plate of projector's curtain cabinet (4)
Sky, in the scene of four side wall upslide actor or actress' Working Lifes of projector's curtain cabinet (4)；
4) operator being sitting on wheelchair (1) rotates the handwheel of wheelchair (1), the vehicle wheel rotation of wheelchair (1), speed probe
(6) revolving speed of (1) two wheel of wheelchair is acquired, and feeds back to controller (74)；
5) 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)；
6) 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)；
7) activity according to 6 electric cylinders (22) is different, analog jolting when various road surfaces push wheelchair (1)；
8) difference for the revolving speed that controller (74) is acquired according to the speed probe (6) on (1) two wheel of wheelchair, by industry control
The conversion of machine (73) forms the rotation of wheelchair (1) on projector's curtain (4) in scene；
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 wheelchair (1) up and down are moved in scene transfer on.
10. the working method of analog simulation wheelchair according to claim 6 or 7, it is characterised in that: further include following step
It is rapid:
10) operator is sitting on wheelchair (1), and safety belt (11) is fastened；
11) press the control button of scissors mechanism (12) on hand-held remote control unit (100), adjust scissors mechanism (12) elongation or
Person withdraws, so as to adjust the height of seat of wheelchair (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810897452.2A CN109256066A (en) | 2018-08-08 | 2018-08-08 | A kind of stereo-circulation formula emulation wheelchair and its working method |
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| CN201810897452.2A CN109256066A (en) | 2018-08-08 | 2018-08-08 | A kind of stereo-circulation formula emulation wheelchair and its working method |
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| CN201810897452.2A Pending CN109256066A (en) | 2018-08-08 | 2018-08-08 | A kind of stereo-circulation formula emulation wheelchair and its working method |
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Application publication date: 20190122 |