CN110762362A - Support based on human body posture control - Google Patents

Support based on human body posture control Download PDF

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Publication number
CN110762362A
CN110762362A CN201910747674.0A CN201910747674A CN110762362A CN 110762362 A CN110762362 A CN 110762362A CN 201910747674 A CN201910747674 A CN 201910747674A CN 110762362 A CN110762362 A CN 110762362A
Authority
CN
China
Prior art keywords
support
steering engine
gear
human body
type support
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201910747674.0A
Other languages
Chinese (zh)
Other versions
CN110762362B (en
Inventor
于兆勤
钟嘉峰
廖铭宇
余桂婷
黄梓跃
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Guangdong University of Technology
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Guangdong University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong University of Technology filed Critical Guangdong University of Technology
Priority to CN201910747674.0A priority Critical patent/CN110762362B/en
Publication of CN110762362A publication Critical patent/CN110762362A/en
Application granted granted Critical
Publication of CN110762362B publication Critical patent/CN110762362B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • F16M11/38—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by folding, e.g. pivoting or scissors tong mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/068—Arms being part of the undercarriage
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20081—Training; Learning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20084—Artificial neural networks [ANN]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30196—Human being; Person

Abstract

The invention discloses a support based on human body posture control, which comprises a supporting seat, a three-dimensional reconstruction vision system, a bionic driving component, a support body and a claw disc, wherein the three-dimensional reconstruction vision system is electrically connected with the bionic driving component, one end of the support body is movably connected with the supporting seat through the bionic driving component, and the other end of the support body is movably connected with the claw disc through the bionic driving component. According to the invention, the existing support body is connected with the three-dimensional reconstruction vision system and the bionic driving system in a matching manner, and the support body dynamically realizes the supporting and fixing effects according to the posture of a human body.

Description

Support based on human body posture control
Technical Field
The invention relates to the field of computer vision and intelligent control, in particular to a support based on human posture control.
Background
The existing support is generally used for supporting and fixing, and the supporting and fixing is static. If the human body can not follow the movement. Clearly less intelligent. For example, when people use a tablet computer to study and work, people hope to free the hands holding the tablet computer and do other things at the same time. For another example, when two people at a high position and a low position work at a short distance on a tablet computer or a book on a discussion stand, the two people can see the contents of the tablet computer and the book mutually, or the contents are transmitted by hands of the two people, or the height and the angle of the stand need to be adjusted manually, which is very troublesome and inconvenient.
Disclosure of Invention
In order to overcome at least one defect (deficiency) in the prior art, the invention provides a support based on human body posture control.
The present invention aims to solve the above technical problem at least to some extent.
In order to achieve the technical effects, the technical scheme of the invention is as follows:
the utility model provides a support based on human body attitude control, includes supporting seat, three-dimensional visual system, bionical drive component, support body and claw dish of rebuilding, three-dimensional visual system and bionical drive component electricity of rebuilding are connected, and the one end of support body is passed through bionical drive component movably with the supporting seat and is connected, and the other end of support body passes through bionical drive component movably with the claw dish and is connected.
Preferably, the bionic driving component comprises a first steering engine, a first gear and a first locking nut, the body of the first steering engine is fixed on the upper portion of the supporting seat, first threads are arranged on the outer periphery of a rotating shaft of the first steering engine, the rotating shaft of the first steering engine penetrates through a center hole of the first gear, the first locking nut is connected with the first threads in a matched mode, the first gear is fixed on the rotating shaft of the first steering engine, a first matching gear is arranged at one end of the support body, and one end of the support body is movably connected to the supporting seat through meshing of the first gear and meshing teeth of the first matching gear.
Preferably, the bionic driving component comprises a first steering engine, a first gear, a first central shaft and a first bolt, the body of the first steering engine is fixed on the upper portion of the supporting seat, an internal thread is arranged on the outer peripheral edge of the rotating shaft of the first steering engine, an external thread connected with the first thread in a matched mode is arranged on the central hole face of the first gear, the rotating shaft of the first steering engine penetrates through the central hole of the first gear and is connected with the central hole of the first gear in a matched mode through the internal thread and the external thread, the first gear is embedded in one end of the first central shaft, and the other end of the first central shaft is connected.
Preferably, the bionic driving component further comprises a second steering engine, a [ type support, a ] type support, a second bolt and a third bolt, two pairs of symmetrical gears are respectively arranged on two sides of the second steering engine, one pair of symmetrical gears are respectively used for fixing two free ends of the [ type support, the other pair of symmetrical gears are respectively used for fixing two free ends of the [ type support ], the transverse lengths of the [ type support and the ] type support are larger than the length of a machine body of the second steering engine, the longitudinal side face of the [ type support is fixedly connected with the other end of the support body through the second bolt, and the longitudinal side face of the [ type support is fixedly connected with the claw disc through the third bolt.
Preferably, the bionic driving component further comprises a second steering engine, a second gear and a second locking nut, the body of the second steering engine is fixed to the support body, the other end of the support body is fixed to the support body, a second thread is arranged on the outer periphery of the rotating shaft of the second steering engine, the rotating shaft of the second steering engine penetrates through the center hole of the second gear, the second steering engine is in threaded connection with the second locking nut, the second gear is fixed to the rotating shaft of the second steering engine, a second matching gear is arranged at the bottom of the claw disk, and the claw disk is movably connected to the support body through meshing of the second gear and the second matching gear at the other end of the support body.
Preferably, at least one pair of claw fingers are arranged on two opposite sides of the claw disc respectively, the bionic driving component comprises a third steering engine unit and a connecting line set, the third steering engine unit is arranged at the other end of the support body and at least comprises a pair of miniature steering engines provided with turntables, each miniature steering engine corresponds to one claw finger, the connecting line set at least comprises two sets of folding and unfolding connecting lines, each set of folding and unfolding connecting lines corresponds to one miniature steering engine, each set of folding and unfolding connecting lines comprises a winding line and an unfolding line, one end of the winding line is fixed at the top end of a finger, the other end of the winding line penetrates through the finger from the top end of the finger, the other end of the folding line penetrates through the finger from the palm side and the palm side of a wrist joint and is fixed at one side of the turntables of the miniature steering engines, one end of the unfolding line is fixed at the top end of the finger, the, is fixed on the opposite side of the micro steering engine turntable.
Preferably, the bracket body comprises an upper bracket and a lower bracket which are movably connected, the bionic driving member comprises a fourth steering engine, a [ type bracket and a ] type bracket, two pairs of symmetrical gears are respectively arranged at two sides of the fourth steering engine, one pair of symmetrical gears are respectively used for fixing two free ends of the [ type bracket, the other pair of symmetrical gears are respectively used for fixing two free ends of the [ type bracket, the transverse length of the [ type bracket and the ] type bracket is larger than the length of a machine body of the fourth steering engine, first through holes and second through holes are respectively arranged at two opposite sides of the connecting end of the upper bracket and the lower bracket, two free ends of the [ type bracket respectively penetrate through the first through holes and the second through holes to fix the [ type bracket to the upper bracket, a third through hole and a fourth through hole are respectively arranged at two opposite sides of the connecting end of the lower bracket and the upper bracket, two free ends of the [ type bracket respectively penetrate through the third through holes and the, the ] type bracket is fixed on the lower bracket.
Preferably, the support seat is L-shaped, the analysis portion of the three-dimensional reconstruction vision system is disposed in a bottom box of the L-shaped support seat, and the one end of the support body is movably connected to the top end of the L-shaped support seat.
Preferably, the three-dimensional reconstruction vision system comprises an acquisition part and an analysis part which are electrically connected, wherein the acquisition part is a camera, the analysis part comprises a controller with a three-dimensional reconstruction processing function, a power supply and a GPIO detection key, the camera is fixed on the claw disc and is electrically connected with the controller, the power supply is electrically connected with the controller, and the controller is respectively electrically connected with the GPIO detection key and the bionic driving member.
Preferably, the analysis portion of the three-dimensional reconstruction vision system further comprises a memory, the memory being electrically connected to the controller.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that: the invention realizes the intellectualization of the support body by matching and connecting the prior support body with the three-dimensional reconstruction vision system and the bionic driving system. The three-dimensional reconstruction vision system tracks and collects human body action information, outputs driving information of each joint point of a human skeleton to the collected information through a three-dimensional reconstruction technology, sends the driving information of each joint point to a corresponding part of the bionic driving member, and the bionic driving member drives each connecting node of the support body according to the driving information, so that the support body dynamically realizes the supporting and fixing effects according to the human body posture.
Drawings
Fig. 1 is a schematic structural diagram of a support based on human body posture control.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
As shown in fig. 1, a support based on human body posture control, includes supporting seat 1, three-dimensional reconstruction vision system 2, bionical drive component 3, support body 4 and claw dish 5, three-dimensional reconstruction vision system 2 is connected with bionical drive component 3 electricity, and the one end of support body 4 is connected movably through bionical drive component 3 with supporting seat 1, and the other end of support body 4 is connected movably through bionical drive component 3 with claw dish 5.
In the embodiment of the invention, the existing support body 4 is connected with the three-dimensional reconstruction vision system 2 and the bionic driving system 3 in a matching way, so that the intellectualization of the support body 4 is realized. The three-dimensional reconstruction vision system 2 tracks and collects human body action information, outputs driving information of each joint point of a human skeleton to the collected information through a three-dimensional reconstruction technology, sends the driving information of each joint point to a corresponding part of the bionic driving member 3, and the bionic driving member 3 drives each connecting node of the support body 4 according to the driving information, so that the support body 4 dynamically realizes the supporting and fixing effects according to the human body posture.
The three-dimensional reconstruction vision system 2 is used for tracking and collecting human motion information, identifying and accurately simulating human bones, performing three-dimensional reconstruction on the human bones based on the human motion information, acquiring driving data of each joint point of the human bones and respectively sending the driving data to the bionic driving member 3, and the bionic driving member 3 drives the support body 4 to move according to the driving data. The three-dimensional reconstruction technique applied: and acquiring the motion information of the human body by using a common RGB camera, transmitting the acquired image information to a controller, putting the controller into a trained convolutional neural network for iteration to obtain an accurate key point target value and a matching value between key points, and performing optimized matching value processing to obtain complete human body key point information. And putting the obtained 2D key point information into another neural network model to estimate the 3D key point coordinates, thereby realizing the three-dimensional reconstruction of the human body posture key points. The three-dimensional reconstruction vision system of the present invention is a computer vision system, which is a prior art and will not be described herein again.
Preferably, bionic driving member 3 includes first steering wheel, first gear, first lock nut, the fuselage of first steering wheel is fixed in the upper portion of supporting seat 1, and the outer peripheral edges of first steering wheel axis of rotation are equipped with first screw thread, and first steering wheel axis of rotation runs through first gear centre bore, is connected through first lock nut and first screw-thread fit, is fixed in first steering wheel axis of rotation with first gear, support body 4 one end is equipped with first cooperation gear, with support body 4 through the interlock of first gear and first cooperation gear tooth one end movably connects in supporting seat 1.
In the embodiment of the invention, the first gear is meshed with the first matching gear to movably connect the one end of the bracket body 4 to the supporting seat 1.
Preferably, the bionic driving component 3 comprises a first steering engine, a first gear, a first central shaft and a first bolt, the body of the first steering engine is fixed on the upper portion of the supporting seat 1, an internal thread is arranged on the outer peripheral edge of the rotating shaft of the first steering engine, an external thread connected with the first thread in a matched mode is arranged on the central hole face of the first gear, the rotating shaft of the first steering engine penetrates through the central hole of the first gear and is connected with the central hole of the first gear in a matched mode through the internal thread and the external thread, the first gear is embedded in one end of the first central shaft, and the other end of the first central shaft is connected with.
In the embodiment of the invention, one end of the support body 4 is connected to the upper part of the support seat 1 through the first steering engine, the first gear, the first central shaft and the first bolt.
Preferably, the bionic driving member 3 further comprises a second steering engine, a [ type bracket, a ] type bracket, a second bolt and a third bolt, two pairs of symmetrical gears are respectively arranged on two sides of the second steering engine, one pair of symmetrical gears are respectively used for fixing two free ends of the [ type bracket, the other pair of symmetrical gears are respectively used for fixing two free ends of the [ type bracket, the transverse lengths of the [ type bracket and the ] type bracket are larger than the length of a machine body of the second steering engine, the longitudinal side surface of the [ type bracket is fixedly connected with the other end of the bracket body 4 through the second bolt, and the longitudinal side surface of the [ type bracket is fixedly connected with the claw disc 5 through the third bolt.
In the embodiment of the invention, the other end of the bracket body 4 is movably connected with the claw disc 5 through a second steering engine, a type bracket, a second bolt and a third bolt.
Preferably, bionic driving component 3 still includes second steering wheel, second gear, second lock nut, the fuselage of second steering wheel is fixed in support body 4 the other end, and the outer peripheral edges of the axis of rotation of second steering wheel are equipped with the second screw thread, and second steering wheel axis of rotation runs through the second gear centre bore, is connected with the second screw thread cooperation through second lock nut, is fixed in second steering wheel axis of rotation with the second gear, and the claw dish bottom is equipped with second cooperation gear, and the tooth mesh interlock through second gear and second cooperation gear connects claw dish 5 movably in support body 4 the other end.
In the embodiment of the invention, the other end of the support body 4 is movably connected with the claw disc 5 through the matching connection of the second steering engine, the second gear and the second locking nut, so that the intelligent adjustment of the angle of the support body 4 to the claw disc 5 is realized.
Preferably, at least one pair of claw fingers 51 are respectively arranged on two opposite sides of the claw disc 5, the bionic driving component 3 comprises a third steering engine unit and a connecting line set, the third steering engine unit is arranged at the other end of the support body 4, the third steering engine unit at least comprises a pair of micro steering engines provided with turntables, each micro steering engine corresponds to one claw finger 51, the connecting line set at least comprises two sets of folding and unfolding connecting lines, each set of folding and unfolding connecting lines corresponds to one micro steering engine, each set of folding and unfolding connecting lines comprises a winding line and an unfolding line, one end of the winding line is fixed on the top end of a finger, the other end of the winding line penetrates through the finger from the top end, the finger passes through the palm center side and the wrist joint center side and is fixed on one side of the micro steering engine turntables, one end of the unfolding line is fixed on the top end of the finger, the other end of the unfolding line penetrates through the finger, is fixed on the opposite side of the micro steering engine turntable.
In the embodiment of the invention, the claw fingers 51 are connected with the third steering engine set and the connecting wire set in a matched manner, so that the claw fingers 51 clamp and fix a support on the claw disc 5.
Preferably, the support body 4 comprises an upper support 41 and a lower support 42 movably connected, the bionic driving member 3 comprises a fourth steering engine, a type support and a type support, two pairs of symmetrical gears are respectively arranged on two sides of the fourth steering engine, one pair of symmetrical gears respectively fix two free ends of the type support, the other pair of symmetrical gears respectively fix two free ends of the type support, the transverse lengths of the type support and the type support are larger than the length of the body of the fourth steering engine, first through holes and second through holes are respectively arranged on two opposite sides of the connecting end of the upper support 41 and the lower support 42, two free ends of the type support respectively penetrate through the first through holes and the second through holes to fix the type support to the upper support 41, a third through hole and a fourth through hole are respectively arranged on two opposite sides of the connecting end of the lower support 42 and the upper support 41, and two free ends of the type support respectively penetrate through the third through holes and the fourth through holes, the bracket is fixed to the lower bracket 42.
In the embodiment of the invention, the height of the bracket body can be intelligently adjusted by movably connecting the upper bracket 41 and the lower bracket 42.
Preferably, the supporting seat 1 is L-shaped, the analysis portion of the three-dimensional reconstruction vision system 2 is disposed in a bottom box of the supporting seat 1L-shaped, and the one end of the bracket body 4 is movably connected to the top end of the supporting seat 1L-shaped.
In the embodiment of the present invention, it is understood that the supporting seat 1 of the present invention has a structure without being limited to an L-shape.
Preferably, the three-dimensional reconstruction vision system 2 comprises an acquisition part and an analysis part which are electrically connected, the acquisition part is a camera 21, the analysis part comprises a controller 22 with a three-dimensional reconstruction processing function, a power supply 23 and a GPIO detection key 24, the camera 21 is fixed on the claw disk 5 and is electrically connected with the controller 22, the power supply 23 is electrically connected with the controller 22, and the controller 22 is respectively electrically connected with the GPIO detection key 24 and the bionic driving member 3.
In the embodiment of the invention, the three-dimensional reconstruction vision system 2 realizes the functions of visual identification, tracking and acquisition through the electric connection structure of the camera 21, the controller 22 with the three-dimensional reconstruction processing function, the power supply 23 and the GPIO detection key 24.
Preferably, the analysis portion of the three-dimensional reconstruction vision system 2 further comprises a memory 25, the memory 25 being electrically connected to the controller 22.
In the embodiment of the present invention, the memory 25 stores the processing data of the controller 22, so as to implement the memory function and the action command reproduction of the bionic motion of the stent body 4.
The same or similar reference numerals correspond to the same or similar parts;
the positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. The utility model provides a support based on human body attitude control, its characterized in that, includes supporting seat, three-dimensional visual system, bionical drive component, support body and claw dish of rebuilding, three-dimensional visual system and bionical drive component electricity are connected, and the one end of support body is passed through bionical drive component movably with the supporting seat and is connected, and the other end of support body is passed through bionical drive component movably with the claw dish and is connected.
2. The support based on human body posture control as claimed in claim 1, wherein the bionic driving member comprises a first steering engine, a first gear and a first locking nut, a body of the first steering engine is fixed on the upper portion of the support base, first threads are arranged on the outer periphery of a rotating shaft of the first steering engine, the rotating shaft of the first steering engine penetrates through a center hole of the first gear, the first locking nut is in fit connection with the first threads to fix the first gear on the rotating shaft of the first steering engine, a first matching gear is arranged at the one end of the support body, and the one end of the support body is movably connected to the support base through meshing of the first gear and the first matching gear.
3. The support based on human body posture control as claimed in claim 1, wherein the bionic driving member comprises a first steering engine, a first gear, a first central shaft and a first bolt, a body of the first steering engine is fixed on the upper portion of the support base, an internal thread is arranged on the outer periphery of a rotating shaft of the first steering engine, an external thread which is in fit connection with the first thread is arranged on the central hole surface of the first gear, the rotating shaft of the first steering engine penetrates through a central hole of the first gear and is in fit connection with the internal thread and the external thread, the first gear is embedded in one end of the first central shaft, and the other end of the first central shaft is connected to the one end of the support body through the first bolt.
4. The support based on human body posture control as claimed in claim 2 or 3, wherein the bionic driving member further comprises a second steering engine, a [ type support, a ] type support, a second bolt and a third bolt, two pairs of symmetrical gears are respectively arranged on two sides of the second steering engine, one pair of symmetrical gears respectively fix two free ends of the [ type support, the other pair of symmetrical gears respectively fix two free ends of the [ type support, the transverse lengths of the [ type support and the ] type support are greater than the length of the body of the second steering engine, the longitudinal side of the [ type support is fixedly connected with the other end of the support body through the second bolt, and the longitudinal side of the [ type support is fixedly connected with the claw disc through the third bolt.
5. The support based on human body posture control as claimed in claim 2 or 3, wherein the bionic driving member further comprises a second steering engine, a second gear and a second locking nut, a body of the second steering engine is fixed to the other end of the support body, a second thread is arranged on the outer periphery of a rotating shaft of the second steering engine, the rotating shaft of the second steering engine penetrates through a center hole of the second gear, the second gear is fixed to the rotating shaft of the second steering engine through the second locking nut and in threaded fit connection with the second thread, a second matching gear is arranged at the bottom of the claw disc, and the claw disc is movably connected to the other end of the support body through meshing of the second gear and the second matching gear.
6. The support based on human body posture control as claimed in claim 1, wherein at least one pair of fingers are respectively arranged on two opposite sides of the claw disc, the bionic driving member comprises a third steering engine set and a connecting line set, the third steering engine set is arranged on the other end of the support body, the third steering engine set at least comprises a pair of micro steering engines provided with turntables, each micro steering engine corresponds to one finger, the connecting line set at least comprises two sets of folding and unfolding connecting lines, each set of folding and unfolding connecting lines corresponds to one micro steering engine, each set of folding and unfolding connecting lines comprises a folding line and an unfolding line, one end of the folding line is fixed on the top end of a finger, the other end of the folding line penetrates through the finger from the top end, then penetrates through the palm center side and the palm joint center side and is fixed on one side of the turntables of the micro steering engines, one end of the unfolding line is fixed on the top end of the finger, and then the palm surface side of the palm and the palm surface side of the wrist joint are fixed on the opposite side of one side of the micro steering engine turntable.
7. The support based on human body posture control as claimed in claim 1, wherein the support body comprises an upper support and a lower support movably connected, the bionic driving member comprises a fourth steering gear, a [ type support, and a ] type support, two pairs of symmetrical gears are respectively arranged on two sides of the fourth steering gear, one pair of symmetrical gears respectively fix two free ends of the [ type support, the other pair of symmetrical gears respectively fix two free ends of the [ type support, the transverse length of the [ type support and the ] type support is greater than the length of the body of the fourth steering gear, first through holes and second through holes are respectively arranged on two opposite sides of the connecting end of the upper support and the lower support, two free ends of the [ type support respectively penetrate through the first through holes and the second through holes to fix the [ type support to the upper support, the lower support is respectively provided with third through holes and fourth through holes on two opposite sides of the connecting end of the upper support, and two free ends of the bracket respectively penetrate through the third through hole and the fourth through hole to fix the bracket on the lower bracket.
8. The human body posture control-based support frame as claimed in claim 1, wherein the support base is L-shaped, the analysis portion of the three-dimensional reconstruction vision system is disposed in a bottom box of the L-shaped support base, and the one end of the support frame body is movably connected to the top end of the L-shaped support base.
9. The human body posture control-based support frame as claimed in claim 1, wherein the three-dimensional reconstruction vision system comprises an acquisition part and an analysis part which are electrically connected, the acquisition part is a camera, the analysis part comprises a controller with a three-dimensional reconstruction processing function, a power supply and a GPIO detection key, the camera is fixed on the claw disc and is electrically connected with the controller, the power supply is electrically connected with the controller, and the controller is respectively electrically connected with the GPIO detection key and the bionic driving member.
10. The human pose control-based stent of claim 1, wherein the analysis portion of the three-dimensional reconstruction vision system further comprises a memory, the memory being electrically connected to the controller.
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