CN109840020B - Single-instruction type tracking mechanical pen system based on Leap Motion - Google Patents
Single-instruction type tracking mechanical pen system based on Leap Motion Download PDFInfo
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- CN109840020B CN109840020B CN201711206639.5A CN201711206639A CN109840020B CN 109840020 B CN109840020 B CN 109840020B CN 201711206639 A CN201711206639 A CN 201711206639A CN 109840020 B CN109840020 B CN 109840020B
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- guide rail
- height
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- refill
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Abstract
The invention discloses a single-instruction type tracking mechanical pen system based on Leap Motion. The Leap Motion sensor transmits finger Motion data of an operator to the controller, and the controller processes the finger Motion data and sends out instructions to move the transverse feeding mechanism, the longitudinal feeding mechanism and the height adjusting mechanism so as to control the pen core switching mechanism and the position of the pen core. The single-instruction type tracking mechanical pen system uses the Leap Motion sensor, does not need to install an additional auxiliary tool on the hand of a user, and solves the problem of writing for disabled people and people with difficulty in holding pens.
Description
Technical Field
The invention belongs to the technical field of automatic tracking, and particularly relates to a single-instruction type tracking mechanical pen system based on Leap Motion.
Background
The disabled people need to change and adapt for a long time to overcome the difficulty of writing and even have the phenomenon of incapability of writing normally. In the market, although various auxiliary appliances for the disabled are available, such as a disabled lifting machine, a disabled toilet chair, a disabled hearing aid and a disabled armrest, appliances for assisting the disabled to write are lacked. In addition, old people of high ages are difficult to hold pens due to physiological reasons and the like, and can not write in reality. Moreover, most of the disabled auxiliary appliances have the problems of backward sensors, difficult operation, inconvenient use and the like.
In the prior art, the data glove based on the bending and combined MEMS sensor can track flexible and changeable gestures and spatial directions of an operator by utilizing a sensor system on the data glove. The hand movement condition can be well restored by inputting the gesture and direction data of the operator into the computer. The design is mainly used as one of the main parts of the virtual reality technology, so that the auxiliary hand motion detection equipment can accurately capture and restore the hand motion change process of an operator in real time.
The design uses the bending sensor and the combined MEMS sensor, is in a glove shape, needs to be worn by a user, is mainly used for measuring and simulating the hand action change process of the user, is used for restoring the hand action of the user, and achieves the effect of remote control.
Disclosure of Invention
The invention aims to solve the technical problem of providing a single-instruction type tracking mechanical pen system based on Leap Motion, which does not need to install additional auxiliary tools on the hands of users and solves the problem of writing for disabled people and people with difficulty in holding pens.
The technical scheme adopted by the invention for solving the technical problems is as follows: the single-instruction type tracking mechanical pen system based on Leap Motion comprises a pen refill switching mechanism, a transverse feeding mechanism, a longitudinal feeding mechanism, a height adjusting mechanism, a Leap Motion sensor, a controller, a pen refill, a conical foot support, a square base and a paper clamping plate, wherein the pen refill switching mechanism comprises a pen refill switching support shell, a three-column disc, a right-angle solid tube, a right-angle blind hole tube, a pen refill switching steering engine and a three-hole disc, through holes of the right-angle blind hole tube and the right-angle solid tube are respectively and coaxially matched with cylinders which are in triangular distribution and arranged on the three-column disc (the right-angle solid tube can be lifted to the highest point by rotating the three-hole disc), the right-angle blind hole tube is parallel to the right-angle solid tube, the through holes of the right-angle blind hole tube and the right-angle solid tube are both horizontally parallel to the three-hole disc, the three-hole disc is vertical, the stepped surface of the refill switching support shell is matched with the bottom surface of the three-hole disc, the vertical surface of the refill switching support shell is matched with the surface of the three-hole disc, the refill switching support shell is coaxially matched with the through hole of the three-hole disc through a polished rod, the refill is fixed on a right-angle blind hole pipe of the refill switching mechanism, the refill switching mechanism is fixed at one end of a transverse feeding mechanism close to a square base, a longitudinal feeding mechanism is fixed on the square base, a conical foot support is arranged below the square base, a paper clamping plate is arranged at one end below the refill switching mechanism and on the square base, the longitudinal feeding mechanism is arranged at the other end on the square base, the lower end of a height adjusting mechanism is arranged on a longitudinal guide rail of the longitudinal feeding mechanism, the transverse feeding mechanism is arranged on a height guide rail of the height adjusting mechanism, and a lea, the controller processes and sends out instructions to move the transverse feeding mechanism, the longitudinal feeding mechanism and the height adjusting mechanism, and controls the refill switching mechanism and the position of the refill. When the refill switches the switching-on rotation of steering wheel, drive three post discs and carry out synchronous rotation, through the restraint of two right angle blind hole pipes and a right angle solid core pipe, three hole discs rotate along with it, drive right angle blind hole pipe and refill and rotate and go up and down to right angle blind hole pipe and right angle solid core pipe have restricted three post disc pivoted range, realize the conversion and the location of refill.
According to the technical scheme, the transverse feeding mechanism is composed of a transverse guide rail, a transverse guide rail sliding block and a transverse lead screw motor, a lead screw of the transverse lead screw motor is fixedly connected with the transverse guide rail, and the transverse guide rail can be driven by the lead screw to move in the transverse guide rail sliding block in a translation mode. When the transverse screw rod motor is driven, the screw rod rotates to drive the transverse guide rail, and the transverse guide rail and the transverse screw rod motor horizontally move in the transverse shaft direction (X-axis direction) through the translation of the screw rod in the transverse guide rail sliding block.
According to the technical scheme, the longitudinal feeding mechanism is composed of a longitudinal screw rod motor, a longitudinal guide rail and a longitudinal guide rail sliding block, a screw rod of the longitudinal screw rod motor is fixedly connected with the longitudinal guide rail, and the longitudinal guide rail can be driven by the screw rod to move in the longitudinal guide rail sliding block in a translation mode. When the longitudinal screw rod motor is driven, the screw rod rotates to drive the longitudinal guide rail, and the longitudinal guide rail and the longitudinal screw rod motor are translated in the longitudinal guide rail sliding block through the screw rod, so that the longitudinal guide rail and the longitudinal screw rod motor are translated in the longitudinal axis direction (Y-axis direction).
According to the technical scheme, the height adjusting mechanism is composed of a height guide rail, a height lead screw motor and a height guide rail sliding block, a lead screw of the height lead screw motor is fixedly connected with the height guide rail, and the height of the height guide rail and the height lead screw motor is adjusted through the lifting motion of the lead screw of the height lead screw motor in the height guide rail sliding block. When the height lead screw motor is driven, the lead screw rotates to drive the height guide rail, the lead screw moves up and down in the height guide rail slide block, the height (Z axis) of the height guide rail and the height lead screw motor is changed, and the refill is far away from or close to the paper clamping plate.
The invention has the following beneficial effects: the single-instruction type tracking mechanical pen system uses the Leap Motion sensor, does not need to install an additional auxiliary tool on the hand of a user, and solves the problem of writing for disabled people and people with difficulty in holding pens.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is an assembled front view of a single-command mechanical tracking pen device according to an embodiment of the present invention;
FIG. 2 is an assembled side view of the single-command mechanical tracking pen device according to the embodiment of the present invention;
FIG. 3 is a top view of the entire Leap Motion-based single-command mechanical tracking pen device according to an embodiment of the present invention;
FIG. 4 is a front view of a pen core switching mechanism in a Leap Motion based single-command tracking mechanical pen device according to an embodiment of the present invention;
FIG. 5 is a full-sectional view of a pen core switching mechanism in a Leap Motion based single-command tracking mechanical pen device according to an embodiment of the present invention;
FIG. 6 is a top view of a pen core switching mechanism in a Leap Motion based single-command tracking mechanical pen device according to an embodiment of the present invention;
FIG. 7 is an assembly diagram of a pen core switching mechanism in a Leap Motion based single-command tracking mechanical pen device according to an embodiment of the present invention;
FIG. 8 is a full view of a right-angle blind hole tube of a pen core switching mechanism in a Leap Motion based single-command tracking mechanical pen device according to an embodiment of the present invention;
FIG. 9 is a front cross-sectional view of a right-angle blind hole tube of a pen core switching mechanism in a Leap Motion-based single-command tracking mechanical pen device according to an embodiment of the present invention;
FIG. 10 is an assembly view of the infeed mechanism in the Leap Motion based single command tracking mechanical pen device of the present invention;
FIG. 11 is an assembly view of a longitudinal feed mechanism in a Leap Motion based single command tracking mechanical pen device according to an embodiment of the present invention;
FIG. 12 is an assembly view of a height adjustment mechanism in a Leap Motion based single command tracking mechanical pen device, in accordance with an embodiment of the present invention;
FIG. 13 is a block circuit diagram of a single-command tracking mechanical pen according to the embodiment of the present invention, based on Leap Motion;
FIG. 14 is a software operating window interface of a single-command mechanical pen tracking device according to the Leap Motion of the present invention;
wherein: 1. the pen comprises a conical foot support, 2 parts of a square base, 3 parts of a paper clamping plate, 4 parts of a pen core, 5 parts of a pen core switching support shell, 6 parts of a three-column disc, 7 parts of a transverse guide rail, 8 parts of a height screw rod motor, 9 parts of a height guide rail sliding block, 10 parts of a transverse guide rail sliding block, 11 parts of a transverse screw rod motor, 12 parts of a longitudinal guide rail, 13 parts of a longitudinal screw rod motor, 14 parts of a longitudinal guide rail sliding block, 15 parts of a height guide rail, 16 parts of a pen core switching steering engine, 17 parts of a right-angle solid tube, 18 parts of a right-.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the embodiment of the invention, a single-instruction type tracking mechanical pen system based on Leap Motion is provided, as shown in fig. 1-9, and comprises a pen core switching mechanism, a transverse feeding mechanism, a longitudinal feeding mechanism, a height adjusting mechanism, a Leap Motion sensor, a controller, a pen core 4, a conical foot support 1, a square base 2 and a paper clamping plate 3, wherein the pen core switching mechanism is composed of a pen core switching support shell 5, a three-column disc 6, a right-angle solid pipe 17, a right-angle blind hole pipe 18, a pen core switching steering engine 16 and a three-hole disc, through holes of the right-angle blind hole pipe and the right-angle solid pipe are respectively and coaxially matched with a cylinder which is in triangular distribution and can be lifted to the highest point by rotating the three-hole disc, the right-angle blind hole pipe is parallel to the right-angle solid pipe, the through holes of the right-angle blind hole pipe and the through holes of the right-angle solid pipe are both horizontally, the pen core switching support device is characterized in that the pen core switching support device is coaxially matched with a right-angle blind hole tube and a right-angle solid tube respectively, the stepped surface of a pen core switching support shell is matched with the bottom surface of a three-hole disc 19, the vertical surface of the pen core switching support shell is matched with the surface of a three-column disc, the through hole of the pen core switching support shell and the through hole of the three-column disc are coaxially matched through a polished rod, a pen core is fixed on the right-angle blind hole tube of a pen core switching mechanism, the pen core switching mechanism is fixed at one end, close to a square base, of a transverse feeding mechanism, the longitudinal feeding mechanism is fixed on the square base, a conical foot support is arranged below the square base, a paper clamping plate is arranged at one end, below the pen core switching mechanism and on the square base, the longitudinal feeding mechanism is arranged at the other end of the square base, the lower end of a, the controller processes and sends out instructions to move the transverse feeding mechanism, the longitudinal feeding mechanism and the height adjusting mechanism, and controls the refill switching mechanism and the position of the refill. When the refill switches the switching-on rotation of steering wheel, drive three post discs and carry out synchronous rotation, through the restraint of two right angle blind hole pipes and a right angle solid core pipe, three hole discs rotate along with it, drive right angle blind hole pipe and refill and rotate and go up and down to right angle blind hole pipe and right angle solid core pipe have restricted three post disc pivoted range, realize the conversion and the location of refill.
Further, as shown in fig. 10, the transverse feeding mechanism is composed of a transverse guide rail 7, a transverse guide rail slider 10 and a transverse lead screw motor 11, a lead screw of the transverse lead screw motor is fixedly connected with the transverse guide rail, and the transverse guide rail can be driven by the lead screw to translate in the transverse guide rail slider. When the transverse screw rod motor is driven, the screw rod rotates to drive the transverse guide rail, and the transverse guide rail and the transverse screw rod motor horizontally move in the transverse shaft direction (X-axis direction) through the translation of the screw rod in the transverse guide rail sliding block.
Further, as shown in fig. 11, the longitudinal feeding mechanism is composed of a longitudinal screw motor 13, a longitudinal guide rail 12, and a longitudinal guide rail slider 14, a screw of the longitudinal screw motor is fixedly connected with the longitudinal guide rail, and the longitudinal guide rail can be driven by the screw to translate in the longitudinal guide rail slider. When the longitudinal screw rod motor is driven, the screw rod rotates to drive the longitudinal guide rail, and the longitudinal guide rail and the longitudinal screw rod motor are translated in the longitudinal guide rail sliding block through the screw rod, so that the longitudinal guide rail and the longitudinal screw rod motor are translated in the longitudinal axis direction (Y-axis direction).
Further, as shown in fig. 12, the height adjusting mechanism is composed of a height guide rail 15, a height lead screw motor 8 and a height guide rail slider 9, a lead screw of the height lead screw motor is fixedly connected with the height guide rail, and the heights of the height guide rail and the height lead screw motor are adjusted through the lifting movement of the lead screw of the height lead screw motor in the height guide rail slider. When the height lead screw motor is driven, the lead screw rotates to drive the height guide rail, the lead screw moves up and down in the height guide rail slide block, the height (Z axis) of the height guide rail and the height lead screw motor is changed, and the refill is far away from or close to the paper clamping plate.
In the embodiment of the invention, the circuit of the controller consists of MK60DN512ZVLQ10 of the CPU, an A4988 module of the driving circuit, PDI-6221MG of the steering engine and HC-05 and HC-06 of a Bluetooth (Bluetooth) module. As shown in fig. 13.
The MDK60DN512ZVLQ10 is a microcontroller of a Cortex-M4 kernel, is provided with various interfaces such as USB OTG (USB HOST plus USBDEVICE), Ethernet, 16-bit ADC, DAC, 6 serial ports, SPI, I2C and CAN, and is very suitable for system interconnection application.
A4988 is a complete micro-step motor drive with built-in transducer for easy operation. The product can operate the bipolar stepping motor in full, half, 1/4, 1/8 and 1/16 stepping modes, and the output driving performance can reach 35V and +/-2A. A4988 includes a fixed off-time current regulator that can operate in slow or mixed decay mode. The converter is the key to the easy implementation of a 4988. The motor can be driven to produce microsteps by simply inputting a pulse in the "step" input. No phase sequence tables, high frequency control rows or complex interface programming is required. The a4988 interface is well suited for complex microprocessor unavailable or overloaded applications.
PDI-6221MG is characterized by comprising: high-performance 20KG large-torque digital standard steering engine, high-precision gear Taiwan manufacture, CNC aluminum middle shell and double ball bearings. Bluetooth-HC05 and HC-06: the hardware for data transmission of the upper computer and the lower computer of a user, HC-06 of the upper computer and a Bluetooth (Bluetooth) module and HC-05 of the lower computer and the Bluetooth (Bluetooth) module are connected, so that the lower computer can receive an instruction sent by the upper computer and becomes a control instruction of the three screw rod motors and the steering engine after being processed by a CPU of the lower computer.
As shown in fig. 14, the software operating window interface of the single-command mechanical pen tracking device based on Leap Motion according to the embodiment of the present invention is implemented by combining the above principles to implement the following functions:
after the pen is loaded on the pen core switching mechanism (or starts writing), the user slides the finger on the Leap Motion. The sensor transmits the obtained data to the upper computer, the upper computer sends the processed data to the lower computer, the lower computer processes the data through the single chip microcomputer and drives the stepping motor to work, and the transverse feeding mechanism and the longitudinal feeding mechanism move to achieve the purpose of positioning (or writing) the pen core.
When a user clicks the rising in the height adjusting process in an operation interface of the upper computer, the upper computer sends an instruction to the lower computer, the lower computer receives the related instruction and drives the height adjusting motor to enable the height adjusting mechanism to move up (down), and the position of the pen core is far away from (close to) the paper clamping plate.
When a user clicks stop in height adjustment in an operation interface of the upper computer, the upper computer sends an instruction to the lower computer, the lower computer receives the related instruction, the height adjustment motor is locked, and the positions of the pen core and the paper clamping plate are fixed.
And clicking 'start writing' in an operation interface of the upper computer by a user, and sending an instruction to the lower computer by the upper computer. And the lower computer receives a related instruction and drives the pen core switching mechanism to enable the pen point to be in contact with the paper on the paper clamping plate.
And clicking 'end writing' in an operation interface of the upper computer by a user, and sending an instruction to the lower computer by the upper computer. And the lower computer receives a related instruction and drives the pen core switching mechanism to a pen-free position, so that the pen point is separated from the paper on the paper clamping plate.
A user clicks 'pen support switching' in an operation interface of the upper computer, and the upper computer sends an instruction to the lower computer. And the lower computer receives a related instruction and drives the pen core switching mechanism to the position of the other pen, so that the pen point of the other pen is contacted with the paper clamping plate, and the original pen holder is separated from the paper clamping plate.
Aiming at the problems that disabled people are difficult to write and old people are difficult to hold pens to write and the like, the invention designs a single-instruction type tracking mechanical pen based on Leap motion. The device realizes single gesture tracking through the Leap Motion sensor, realizes the purpose that the disabled people and the old people who have difficulty in holding pens can easily write on paper, and makes up the vacancy of the existing writing assisting device for the disabled.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (4)
1. A mechanical pen system is tracked to single instruction formula based on Leap Motion, characterized by including refill switching mechanism, transverse feed mechanism, vertical feed mechanism, height adjustment mechanism, Leap Motion sensor, controller, refill, toper foot support, square base, double-layered cardboard, wherein refill switching mechanism switches and supports the shell by the refill, three-column disc, right angle solid tube, right angle blind hole pipe, refill switch steering wheel and three-hole disc to constitute, the axle center position of three cylinders of three-column disc and the axle center position of three through-holes of three-hole disc present the same triangle-shaped evenly distributed, the upper end through-hole of two right angle blind hole pipes cooperates with two cylinders in three-column disc coaxially, the upper end through-hole of a right angle solid tube cooperates with another cylinder of three-column disc coaxially, the lower extreme external surface of two right angle blind hole pipes cooperates with two through-hole cylindrical surface in three-hole disc, the outer surface of the lower end of a right-angle solid tube is matched with the inner surface of the other through hole of the three-hole disc, the three through holes of the three-hole disc are in the same relative position with the axes of three cylinders of the three-column disc, the symmetrical planes of the three right-angle tubes are parallel, the through hole of the right-angle blind hole tube and the through hole of the right-angle solid tube are both horizontally parallel with the three-hole disc, the three-hole disc is vertical to the three-column disc, the step surface of the refill switching support shell is matched with the bottom surface of the three-hole disc, the vertical surface of the refill switching support shell is matched with the surface of the three-column disc, the refill switching support shell and the through hole of the three-column disc realize coaxial matching through a polish rod, a refill is fixed on the right-angle blind hole tube of a refill switching mechanism, the lower end of the height adjusting mechanism is arranged on a longitudinal guide rail of the longitudinal feeding mechanism, the transverse feeding mechanism is arranged on a height guide rail of the height adjusting mechanism, the Leap Motion sensor transmits finger action data of an operator to the controller, and the controller processes the finger action data and sends an instruction to move the transverse feeding mechanism, the longitudinal feeding mechanism and the height adjusting mechanism so as to control the positions of the refill switching mechanism and the refill.
2. The Leap Motion-based single-command type tracking mechanical pen system as claimed in claim 1, wherein the transverse feeding mechanism comprises a transverse guide rail, a transverse guide rail slider and a transverse lead screw motor, a lead screw of the transverse lead screw motor is fixedly connected with the transverse guide rail, and the transverse guide rail can be driven by the lead screw to translate in the transverse guide rail slider.
3. The Leap Motion-based single-command type tracking mechanical pen system as claimed in claim 1 or 2, wherein the longitudinal feeding mechanism comprises a longitudinal screw motor, a longitudinal guide rail and a longitudinal guide rail slider, a screw of the longitudinal screw motor is fixedly connected with the longitudinal guide rail, and the longitudinal guide rail can be driven by the screw to translate in the longitudinal guide rail slider.
4. The Leap Motion-based single-command type mechanical tracking pen system as claimed in claim 1 or 2, wherein the height adjusting mechanism comprises a height guide rail, a height lead screw motor and a height guide rail slider, a lead screw of the height lead screw motor is fixedly connected with the height guide rail, and the height of the height guide rail and the height lead screw motor is adjusted by the lifting Motion of the lead screw of the height lead screw motor in the height guide rail slider.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711206639.5A CN109840020B (en) | 2017-11-27 | 2017-11-27 | Single-instruction type tracking mechanical pen system based on Leap Motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711206639.5A CN109840020B (en) | 2017-11-27 | 2017-11-27 | Single-instruction type tracking mechanical pen system based on Leap Motion |
Publications (2)
| Publication Number | Publication Date |
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| CN109840020A CN109840020A (en) | 2019-06-04 |
| CN109840020B true CN109840020B (en) | 2021-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711206639.5A Expired - Fee Related CN109840020B (en) | 2017-11-27 | 2017-11-27 | Single-instruction type tracking mechanical pen system based on Leap Motion |
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| CN (1) | CN109840020B (en) |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103717355B (en) * | 2011-07-27 | 2015-11-25 | 洛桑联邦理工学院 | For the mechanical remote control operating means of remote control |
| CN205889204U (en) * | 2016-07-28 | 2017-01-18 | 田东兴 | Robot of writing |
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