CN109859597A - A kind of rehabilitation simulation people's pose acquisition system and method - Google Patents
A kind of rehabilitation simulation people's pose acquisition system and method Download PDFInfo
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- CN109859597A CN109859597A CN201910174252.9A CN201910174252A CN109859597A CN 109859597 A CN109859597 A CN 109859597A CN 201910174252 A CN201910174252 A CN 201910174252A CN 109859597 A CN109859597 A CN 109859597A
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Abstract
The present invention provides a kind of rehabilitation simulation people's pose acquisition system, including angle acquisition device, is mounted on simulation people and plans installation place；When simulating people's limb activity, limbs unidirectional movable angular speed, angular acceleration data are obtained；Processing unit obtains the collected movable angular speed of angle acquisition device and angular acceleration data, and is handled to obtain attitude data to the data；Host computer shows equipment, and attitude data is obtained from processing unit and is shown.Compared with prior art, this programme substitutes true man's teaching using simulation people, is easily installed angle acquisition device, and realization provides new teaching aid to rehabilitation teaching field, reduces the duplicate workload of teacher, increases student's practice opportunity and standard rating.The successes achieved in teaching of rehabilitation teaching field are allowed to have the assessment of data of quantization.
Description
Technical field
The present invention relates to robot and rehabilitation instructional technology field, a kind of specifically rehabilitation simulation people's pose acquisition is
System and method.
Background technique
Attention of the development and country of rehabilitation subject to rehabilitation endowment direction, expedites the emergence of and trains to rehabilitation class professional's specialization
Feeding proposition more standard, more standardizes, tightened up requirement, expedites the emergence of out rehabilitation subject to the new need of the intelligentized rehabilitation teaching aid of standard
It asks.
Traditional Rehabilitation teaching, simulated patient by student for practical teaching part, teacher by simulation patient student into
Row simulation rehabilitation, this does not use instruments used for education to record and show the mobility in joint in the process, and student is grasped
Make lack of experience, teaching efficiency is slow.
The nursing teaching of nursing class profession is used for reference there is no a teaching appliance for the teaching of rehabilitation class on the market at present
The concept of teaching aid caregiver, team optimize and improve to nurse artificial model, provide the sum for meeting rehabilitation teaching demand
Human body is simulated in the consistent rehabilitation of true man's joint freedom degrees.Demand of this achievement to rehabilitation teaching field to rehabilitation teaching aid provides item
Part.
It is mostly realized by angular transducer to the scheme of angle acquisition at present, the angle sensor on domestic market
Body product is larger, needs to combine with movable axis, is not suitable for the structure of human body.There is the small size suitable for human body on overseas market
Angular transducer, but need to customize, it is expensive.
Summary of the invention
The technical problem to be solved by the present invention is to be directed to lack in the prior art to be suitble to the cheap of simulation organization of human body
Rehabilitation training system, a kind of rehabilitation simulation people's pose acquisition system and method are provided.
The present invention solves above-mentioned technical problem by the following technical programs:
A kind of rehabilitation simulation people's pose acquisition system, including
Angle acquisition device is mounted on simulation people and plans installation place；When simulating people's limb activity, limbs one direction is obtained
Movable angular speed, angular acceleration data；
Processing unit obtains the collected movable angular speed of angle acquisition device and angular acceleration data, and to the data
It is handled to obtain attitude data；
Host computer shows equipment, and attitude data is obtained from processing unit and is shown.
Preferably, the angle acquisition device is gyroscope.
Preferably, the processing unit includes from controller and master controller；The quantity from controller is adopted with angle
Acquisition means quantity is consistent；The signal output end of the single angle acquisition device connects with corresponding from controller signals input terminal
It connects, all export out from the signal of controller connect with the signal input part of master controller.
Preferably, described to include from controller
Interface driver module, including RS485 driving unit, RS232 driving unit, IO driving unit；The RS232 driving
Unit is for acquisition angles acquisition device real time data and initializes angle acquisition device data, and IO driving unit is dialled for acquiring
The ID number from controller is arranged in code switch signal, and RS485 driving unit is used for the communication between controller and master controller,
It realizes and is sent to master controller by multiple from controller data and handles；
Data acquisition module collects the angular speed and angular acceleration number of angle acquisition device by RS485 driving unit
According to, and pass through the data of filtering processing and algorithm conversion optimization acquisition；
Angular transition module, by by after optimization of collection angular speed and angular acceleration carry out algorithm process after be converted into solely
Vertical Ou Lajiao and four elements is acquired for master controller；
Bus communication module receives host computer instruction, controls acquisition position, sends attitude angle and reads for master controller.
Preferably, the master controller includes
Angle acquisition device control module to parse the director data received, and is sent to from master control borad, to control
The state of angle acquisition device processed；
Pose data processing module, to receive multiple angular speed sent from master control borad and angular acceleration data and difference
It is handled, effective joint angles data progress algorithm process is converted into sending with the matched pose angle value of physical activity
Equipment is shown to host computer.
The present invention also provides a kind of rehabilitations to simulate people's pose acquisition method, comprising the following steps:
Angle acquisition device is mounted on simulation people and plans installation place；When simulating people's limb activity, limbs folk prescription is obtained
To movable angular speed, angular acceleration data；
The collected movable angular speed of angle acquisition device and angular acceleration data are obtained, and the data are handled；
Treated angular speed and angular acceleration data is obtained from processing unit and is shown.
Preferably, the angle acquisition device is gyroscope.
Preferably, the collected movable angular speed of the acquisition angle acquisition device is completed using processing unit and angle accelerates
Degree evidence, and processing step is carried out to the data；The processing unit includes from controller and master controller；It is described from controller
Quantity it is consistent with angle acquisition device quantity；The signal output end of the single angle acquisition device is with corresponding from controller
Signal input part connection, all export out from the signal of controller connect with the signal input part of master controller.
Preferably, described to include from controller
Interface driver module, including RS485 driving unit, RS232 driving unit, IO driving unit；The RS232 driving
Unit is for acquisition angles acquisition device real time data and initializes angle acquisition device data, and IO driving unit is dialled for acquiring
The ID number from controller is arranged in code switch signal, and RS485 driving unit is used for the communication between controller and master controller,
It realizes and is sent to master controller by multiple from controller data and handles；
Data acquisition module collects the angular speed and angular acceleration number of angle acquisition device by RS485 driving unit
According to, and pass through the data of filtering processing and algorithm conversion optimization acquisition；
Angular transition module, by by after optimization of collection angular speed and angular acceleration carry out algorithm process after be converted into solely
Vertical Ou Lajiao and four elements is acquired for master controller；
Bus communication module receives host computer instruction, controls acquisition position, sends attitude angle and reads for master controller.
Preferably, the master controller includes
Angle acquisition device control module to parse the director data received, and is sent to from master control borad, to control
The state of angle acquisition device processed；
Pose data processing module, to receive multiple angular speed sent from master control borad and angular acceleration data and difference
It is handled, effective joint angles data progress algorithm process is converted into sending with the matched pose angle value of physical activity
Equipment is shown to host computer.
Workflow:
In operating process, first simulation human body is well placed, lies low on teaching bed, after starting simulator system, passes through
Reset key on interface, under send instructions to slave computer, handled by slave computer by all joint zeros datas, allow simulation people system
System is in original state.During teacher's explanation, joint motion is driven by movable mold personification relevant limb, by being mounted on limb
After gyroscope at body acquires original angle, it is converted into the attitude angle of human body attitude by processing unit, is shown in interface
On the virtual analog people of upper display, and is shown in host computer show actual turning joint angle on equipment interface in real time.Pass through
Normalization and accuracy to simulation people's operation are examined in the comparison of angle-data.
The present invention has the advantages that
This programme substitutes true man's teaching using simulation people, is easily installed angle acquisition device, and rehabilitation teaching field is given in realization
New teaching aid is provided, the duplicate workload of teacher is reduced, increases student's practice opportunity and standard rating.Allow rehabilitation teaching field
The successes achieved in teaching have quantization assessment of data.
Acquisition system will be designed using the suitable gyroscope of price in this programme, personalized design meeting human body mechanism
And under the premise of assembly, carry out the acquisition and conversion of angle-data, Dynamic data display is completed, reaches rehabilitation teaching using needing
It asks, the problem of realization of this scheme will evade volume and cost.
Detailed description of the invention
Fig. 1 is that the present invention implements a kind of rehabilitation simulation people's pose acquisition system block diagram；
Fig. 2 is the flow chart in the embodiment of the present invention from controller；
Fig. 3 is the flow chart of master controller in the embodiment of the present invention.
Specific embodiment
The effect of to make to structure feature of the invention and being reached, has a better understanding and awareness, to preferable
Examples and drawings cooperation detailed description, is described as follows:
As shown in Figure 1, rehabilitation simulation people's acquisition system mainly include gyroscope part, from controller, master controller and on
Position machine several major.Designing gyroscope is mounted on simulation people and plans installed position by gyroscope as angle acquisition equipment,
When limb activity, the unidirectional movable angular speed of limbs, angular acceleration data are obtained, and sent by serial ports；When from control
Device discovery serial ports RS232 processed has data input, after the original angle data for collecting gyroscope are carried out algorithm process, is sent to
RS485 bus；After master controller is handled by the RS485 bus data read, the RS232 for being sent to master controller is connect
On mouth, host computer shows and shows after equipment carries out data processing after receiving master controller end RS232 data.
As shown in Fig. 2, being after obtaining gyro data by bottom layer driving interface RS232 software, to pass through number from controller
After being converted into Eulerian angles according to processing module, pass through bus communication module, data acquisition module, data processing module and angular transition
Module is converted into the movable Eulerian angles of simulation person joint and quaternary number, for the reading of master controller.
Refer to from the interface driver module in controller: RS485 driving unit, RS232 driving unit, IO driving unit.
For acquiring gyroscope real time data and initializing gyro data, IO drives for acquiring toggle switch RS232 driving unit
The ID number from plate is arranged in signal, and for RS485 driving unit for the communication between controller and master controller, realization will be multiple
Master controller is sent to from controller data to be handled.
Data acquisition module: collecting the angular speed and angular acceleration data of gyroscope by bottom RS485 drive module,
And pass through the data of filtering processing and algorithm conversion optimization acquisition.
Angular transition module: by by after optimization of collection angular speed and angular acceleration carry out algorithm process after be converted into Europe
Rubbish is converted into independent Ou Lajiao and four elements and acquires for master controller.
Bus communication module: receiving host computer instruction, control acquisition position, sends attitude angle and reads for master controller.
As shown in figure 3, master controller includes angle acquisition device control module, to parse the director data received,
And be sent to from master control borad, to control the state of angle acquisition device；
With pose data processing module, to receive it is multiple from master control borad send angular speed and angular acceleration data and point
It is not handled, effective joint angles data progress algorithm process is converted into sending out with the matched pose angle value of physical activity
It gives host computer and shows equipment.The workflow of master controller specifically: after the completion of hardware initialization, by detecting serial ports
RS232 and RS485, into RS232 interrupt processing function, is parsed and is received when monitoring that RS232 interface has data
Data, after classifying packing and RS485 packet is issued to the state that gyroscope is controlled from MCU controller.It is connect when receiving RS485
When mouthful having data, into RS485 interrupt processing function, after parsing data frame content, by effective joint angles data into
Row algorithm process be converted into the matched pose angle value of physical activity, and by it is multiple from controller data carry out classifying packing from
After reason, serial ports RS232 is sent to for host computer processing and is shown.
Simulation human body: in operating process, being first well placed by the operating process of rehabilitation teaching aid simulation personal data acquisition system,
Lie low on teaching bed, after starting simulator system, by the reset key on interface, under send instructions to slave computer, under
All joint zeros datas are allowed simulator system to be in original state by position machine processing.During teacher's explanation, pass through movable mold
Anthropomorphic relevant limb drives joint motion, soft by acquiring after being acquired original angle by the gyroscope being mounted at limbs
Part is converted into the attitude angle of human body attitude, is shown on the virtual analog people shown on interface, and in real time in host computer interface
The upper actual turning joint angle of display.By the comparison of angle-data, the normalization and accuracy to simulation people's operation are examined.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these variation and
Improvement is both fallen in the range of claimed invention.The present invention claims protection scope by appended claims and its
Equivalent defines.
Claims (10)
1. people's pose acquisition system is simulated in a kind of rehabilitation, it is characterised in that: including
Angle acquisition device is mounted on simulation people and plans installation place；When simulating people's limb activity, the unidirectional work of limbs is obtained
Dynamic angular speed, angular acceleration data；
Processing unit obtains the collected movable angular speed of angle acquisition device and angular acceleration data, and carries out to the data
Processing obtains attitude data；
Host computer shows equipment, and attitude data is obtained from processing unit and is shown.
2. people's pose acquisition system is simulated in a kind of rehabilitation according to claim 1, it is characterised in that: the angle acquisition dress
It is set to gyroscope.
3. people's pose acquisition system is simulated in a kind of rehabilitation according to claim 1 or 2, it is characterised in that: the processing dress
It sets including from controller and master controller；The quantity from controller is consistent with angle acquisition device quantity；The single angle
The signal output end for spending acquisition device is connected with corresponding from controller signals input terminal, all to go out to export from the signal of controller
It is connect with the signal input part of master controller.
4. people's pose acquisition system is simulated in a kind of rehabilitation according to claim 3, it is characterised in that: described from controller packet
It includes
Interface driver module, including RS485 driving unit, RS232 driving unit, IO driving unit；The RS232 driving unit
For acquisition angles acquisition device real time data and angle acquisition device data are initialized, IO driving unit is opened for acquiring dial-up
OFF signal, is arranged the ID number from controller, and RS485 driving unit is realized for the communication between controller and master controller
By multiple master controller is sent to from controller data handles；
Data acquisition module collects the angular speed and angular acceleration data of angle acquisition device by RS485 driving unit, and
Pass through the data being filtered and algorithm conversion optimization acquires；
Angular transition module, by by after optimization of collection angular speed and angular acceleration carry out algorithm process after be converted into it is independent
Ou Lajiao and four elements are acquired for master controller；
Bus communication module receives host computer instruction, controls acquisition position, sends attitude angle and reads for master controller.
5. people's pose acquisition system is simulated in a kind of rehabilitation according to claim 3, it is characterised in that: the master controller packet
It includes
Angle acquisition device control module to parse the director data received, and is sent to from master control borad, to pilot angle
Spend the state of acquisition device；
Pose data processing module, to receive multiple angular speed sent from master control borad and angular acceleration data and carry out respectively
Effective joint angles data progress algorithm process is converted into being sent to the matched pose angle value of physical activity by processing
Position machine shows equipment.
6. people's pose acquisition method is simulated in a kind of rehabilitation, it is characterised in that: the following steps are included:
Angle acquisition device is mounted on simulation people and plans installation place；When simulating people's limb activity, it is unidirectional to obtain limbs
Movable angular speed, angular acceleration data；
The collected movable angular speed of angle acquisition device and angular acceleration data are obtained, and the data are handled；
Treated angular speed and angular acceleration data is obtained from processing unit and is shown.
7. people's pose acquisition method is simulated in a kind of rehabilitation according to claim 6, it is characterised in that: the angle acquisition dress
It is set to gyroscope.
8. people's pose acquisition method is simulated in a kind of rehabilitation according to claim 6 or 7, it is characterised in that: using processing dress
It sets and completes the collected movable angular speed of the acquisition angle acquisition device and angular acceleration data, and the data are handled
Step；The processing unit includes from controller and master controller；The quantity from controller and angle acquisition device quantity
Unanimously；The signal output end of the single angle acquisition device is connected with corresponding from controller signals input terminal, all from control
The signal of device processed, which goes out to export, to be connect with the signal input part of master controller.
9. people's pose acquisition method is simulated in a kind of rehabilitation according to claim 8, it is characterised in that: described from controller packet
It includes
Interface driver module, including RS485 driving unit, RS232 driving unit, IO driving unit；The RS232 driving unit
For acquisition angles acquisition device real time data and angle acquisition device data are initialized, IO driving unit is opened for acquiring dial-up
OFF signal, is arranged the ID number from controller, and RS485 driving unit is realized for the communication between controller and master controller
By multiple master controller is sent to from controller data handles；
Data acquisition module collects the angular speed and angular acceleration data of angle acquisition device by RS485 driving unit, and
Pass through the data being filtered and algorithm conversion optimization acquires；
Angular transition module, by by after optimization of collection angular speed and angular acceleration carry out algorithm process after be converted into it is independent
Ou Lajiao and four elements are acquired for master controller；
Bus communication module receives host computer instruction, controls acquisition position, sends attitude angle and reads for master controller.
10. people's pose acquisition method is simulated in a kind of rehabilitation according to claim 8, it is characterised in that: the master controller
Including
Angle acquisition device control module to parse the director data received, and is sent to from master control borad, to pilot angle
Spend the state of acquisition device；
Pose data processing module, to receive multiple angular speed sent from master control borad and angular acceleration data and carry out respectively
Effective joint angles data progress algorithm process is converted into being sent to the matched pose angle value of physical activity by processing
Position machine shows equipment.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114796986A (en) * | 2022-06-08 | 2022-07-29 | 深圳市汇泰科电子有限公司 | Method for identifying kettle-bell movement information |
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