CN110762362B - Support based on human posture control - Google Patents

Support based on human posture control Download PDF

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Publication number
CN110762362B
CN110762362B CN201910747674.0A CN201910747674A CN110762362B CN 110762362 B CN110762362 B CN 110762362B CN 201910747674 A CN201910747674 A CN 201910747674A CN 110762362 B CN110762362 B CN 110762362B
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CN
China
Prior art keywords
steering engine
support
gear
bracket
fixed
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.)
Active
Application number
CN201910747674.0A
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Chinese (zh)
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CN110762362A (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
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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
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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 support seat, a three-dimensional reconstruction vision system, a bionic driving member, a support body and a claw disc, wherein the three-dimensional reconstruction vision system is electrically connected with the bionic driving member, one end of the support body is movably connected with the support seat through the bionic driving member, and the other end of the support body is movably connected with the claw disc through the bionic driving member. According to the invention, the existing bracket body is connected with the three-dimensional reconstruction vision system and the bionic driving system in a matched manner, so that the bracket body dynamically realizes the supporting and fixing effects according to the human body posture.

Description

Support based on human posture control
Technical Field
The invention relates to the field of computer vision and intelligent control, in particular to a bracket based on personal posture control.
Background
Existing brackets are generally used for support fixation and such support fixation is static. If the human body moves and cannot follow. Obviously not intelligent enough. For example, when people learn and work with a tablet personal computer, they want to free the hands holding the tablet personal computer and perform other things. For another example, when two people with a high and a low are in close distance to discuss the work displayed in the tablet personal computer or the book on the bracket, the two people can see the contents of the tablet personal computer and the book mutually, or the two people can transfer the contents by hands, or the two people need to manually adjust the height and the angle of the bracket to finish the work, which is very troublesome and inconvenient.
Disclosure of Invention
The present invention is directed to overcoming at least one of the above-mentioned drawbacks (shortcomings) of the prior art and providing a support based on human body posture control.
The present invention aims to solve the above technical problems 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 gesture control, includes supporting seat, three-dimensional rebuilding vision system, bionical drive component, support body and claw dish, three-dimensional rebuilding vision system is connected with bionical drive component electricity, and the one end and the supporting seat of support body are through bionical drive component movably connection, and the other end and the claw dish of support body are through bionical drive component movably connection.
Preferably, the bionic driving member 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, a first thread is arranged on the outer periphery of the first steering engine rotating shaft, the first steering engine rotating shaft penetrates through a first gear center hole and is connected with the first thread in a matched mode, the first gear is fixed on the first steering engine rotating shaft, a first matched 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 the first matched gear.
Preferably, the bionic driving member 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, the outer periphery of the first steering engine rotating shaft is provided with internal threads, the central hole surface of the first gear is provided with external threads connected with the first threads in a matching manner, the first steering engine rotating shaft penetrates through the central hole of the first gear to be connected with the central hole of the first gear in a matching manner, the first gear is embedded at one end of the first central shaft, and the other end of the first central shaft is connected with one end of the support body through the first bolt.
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, the two symmetrical gears are respectively fixed on two free ends of the [ type support, the other pair of symmetrical gears are respectively fixed on two free ends of the [ type support, the transverse length of the [ type support and the transverse length of the ] type support are larger than the length of a machine 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 a claw disc through the third bolt.
Preferably, the bionic driving member further comprises a second steering engine, a second gear and a second lock nut, the body of the second steering engine is fixed at 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 second steering engine rotating shaft penetrates through a center hole of the second gear, the second gear is fixed on the second steering engine rotating shaft through the second lock nut and is connected with the second thread in a matched mode, a second matched 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 teeth of the second gear and the second matched gear.
Preferably, the opposite sides of the claw disc are respectively provided with at least one pair of claw fingers, the bionic driving component comprises a third steering engine unit and a connecting line group, the third steering engine unit is arranged at the other end of the support body, the third steering engine unit at least comprises a pair of micro steering engines provided with rotary tables, each micro steering engine corresponds to one claw finger, the connecting line group at least comprises two groups of winding and unwinding connecting lines, each group of winding and unwinding connecting lines corresponds to one micro steering engine, each group of winding and unwinding connecting lines comprises a winding and unwinding wire, one end of the winding is fixed at the top end of a finger, the other end of the winding penetrates the finger from the top end of the finger, the palm center side of the palm and the palm center side of a wrist joint and is fixed at one side of the micro steering engine rotary table, one end of the unwinding wire is fixed at the top end of the finger, the other end of the unwinding wire penetrates the finger from the top end of the palm center side of the finger, the palm surface side of the palm and the palm surface side of the wrist joint and is fixed at the opposite sides of the micro steering engine rotary table.
Preferably, the support body comprises an upper support and a lower support which are movably connected, the bionic driving component 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, two symmetrical gears are respectively fixed on two free ends of the type support, the other pair of symmetrical gears are respectively fixed on two free ends of the type support, the transverse length of the type support and the type support is larger than the length of a machine body of the fourth steering engine, a first through hole and a second through hole are respectively arranged on two opposite sides of a connecting end of the upper support and the lower support, the two free ends of the type support respectively penetrate through the first through hole and the second through hole, the type support is fixed on the upper support, a third through hole and a fourth through hole are respectively arranged on two opposite sides of the connecting end of the lower support and the upper support, and the two free ends of the type support respectively penetrate through the third through hole and the fourth through hole, and the type support is fixed on the lower support.
Preferably, the support seat is L-shaped, the analysis part of the three-dimensional reconstruction vision system is arranged in the bottom box of the L-shaped support seat, and 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, 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 a 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 includes a memory, and the memory is electrically connected with 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 bracket body by the matched connection of the existing bracket body, the three-dimensional reconstruction vision system and the bionic driving system. The three-dimensional reconstruction vision system tracks and collects human motion information, outputs driving information of all joint points of human bones to the collected information through a three-dimensional reconstruction technology, sends the driving information of all joint points to corresponding parts of the bionic driving member, and the bionic driving member drives all connecting nodes of the support body according to the driving information, so that the support body dynamically realizes supporting and fixing effects according to human gestures.
Drawings
Fig. 1 is a schematic structural view of a support based on human body posture control according to the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions;
it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical scheme of the 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 comprises a support base 1, a three-dimensional reconstruction vision system 2, a bionic driving member 3, a support body 4 and a claw disc 5, wherein the three-dimensional reconstruction vision system 2 is electrically connected with the bionic driving member 3, one end of the support body 4 is movably connected with the support base 1 through the bionic driving member 3, and the other end of the support body 4 is movably connected with the claw disc 5 through the bionic driving member 3.
In the embodiment of the invention, the present bracket body 4 is connected with the three-dimensional reconstruction vision system 2 and the bionic driving system 3 in a matched manner, so that the bracket body 4 is intelligentized. The three-dimensional reconstruction vision system 2 tracks and collects human motion information, outputs driving information of all joint points of human bones to the collected information through a three-dimensional reconstruction technology, sends the driving information of all joint points to corresponding parts of the bionic driving member 3, and the bionic driving member 3 drives all connecting nodes of the support body 4 according to the driving information, so that the support body 4 dynamically realizes supporting and fixing effects according to human gestures.
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 all joints of the human bones, and respectively transmitting the driving data to the bionic driving component 3, wherein the bionic driving component 3 drives the bracket body 4 to move according to the driving data. The applied three-dimensional reconstruction technique: the method comprises the steps of collecting action information of a person by using a common RGB camera, transmitting the collected image information to a controller, putting the image information into a trained convolutional neural network for iteration to obtain an accurate key point target value and a matching value between key points, and carrying out optimal matching value processing to obtain complete key point information of a human body. And putting the obtained 2D key point information into another neural network model to estimate the key point coordinates of 3D, so as to realize three-dimensional reconstruction of the key points of the human body posture. The three-dimensional reconstruction vision system of the present invention is a computer vision system, which is the prior art and will not be described in detail herein.
Preferably, the bionic driving member 3 includes a first steering engine, a first gear and a first lock nut, the body of the first steering engine is fixed on the upper portion of the supporting seat 1, a first thread is arranged on the outer periphery of the first steering engine rotating shaft, the first steering engine rotating shaft penetrates through a first gear center hole and is connected with the first thread in a matched manner through the first lock nut, the first gear is fixed on the first steering engine rotating shaft, a first matched gear is arranged at one end of the support body 4, and one end of the support body 4 is movably connected with the supporting seat 1 through meshing engagement of the first gear and the first matched gear.
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 member 3 includes 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 provided on the outer periphery of the first steering engine rotating shaft, an external thread connected with the first thread is provided on the first gear central hole surface, the first steering engine rotating shaft penetrates through the first gear central hole and is connected with the first gear central hole through the internal and external thread, the first gear is embedded at one end of the first central shaft, and the other end of the first central shaft is connected with one end of the bracket body 4 through the first bolt.
In the embodiment of the invention, the one end of the bracket body 4 is connected to the upper part of the supporting 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 includes 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 at two sides of the second steering engine, the pair of symmetrical gears are respectively fixed at two free ends of the [ type support, the other pair of symmetrical gears are respectively fixed at two free ends of the [ type support, the transverse length of the [ type support and the transverse length of the ] type support are greater than the length of a machine body of the second steering engine, the longitudinal side of the [ type support is fixedly connected with the other end of the support body 4 through the second bolt, and the longitudinal side of the ] type support is fixedly connected with the claw disc 5 through the third bolt.
In the embodiment of the present invention, the other end of the bracket body 4 is movably connected with the claw disk 5 through the second steering engine, the [ type bracket ], the ] bracket, the second bolt and the third bolt.
Preferably, the bionic driving member 3 further comprises a second steering engine, a second gear and a second locking nut, the body of the second steering engine is fixed at the other end of the support body 4, a second thread is arranged on the outer periphery of a rotating shaft of the second steering engine, the second steering engine rotating shaft penetrates through a center hole of the second gear, the second gear is fixed on the second steering engine rotating shaft through the second locking nut and is connected with the second thread, a second matched gear is arranged at the bottom of the claw disc, and the claw disc 5 is movably connected to the other end of the support body 4 through meshing engagement of the second gear and the second matched gear.
In the embodiment of the invention, the other end of the bracket body 4 is movably connected with the claw disc 5 through the matched connection of the second steering engine, the second gear and the second locking nut, so that the intelligent adjustment of the angle of the claw disc 5 by the bracket body 4 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 group, 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 rotary discs, each micro steering engine corresponds to one claw finger 51, the connecting line group at least comprises two groups of extension connecting lines, each group of extension connecting lines corresponds to one micro steering engine, each group of extension connecting lines comprises a winding wire and a winding wire, one end of the winding wire is fixed at the top end of a finger, the other end of the winding wire penetrates through the finger from the top end of the finger, the other end of the winding wire is fixed at the opposite side of the micro steering engine rotary disc from the palm side of the wrist joint.
In the embodiment of the invention, the claw finger 51 is matched and connected with the third steering engine unit and the connecting wire group, so that the claw finger 51 clamps and fixes the support on the claw disc 5.
Preferably, the bracket body 4 includes an upper bracket 41 and a lower bracket 42 that are movably connected, the bionic driving member 3 includes a fourth steering engine, a [ type bracket and a ] type bracket, two pairs of symmetrical gears are respectively disposed at two sides of the fourth steering engine, a pair of symmetrical gears are respectively fixed at two free ends of the [ type bracket, another pair of symmetrical gears are respectively fixed at two free ends of the [ type bracket and the ] type bracket, a transverse length of the [ type bracket and the ] type bracket is greater than a length of a body of the fourth steering engine, a first through hole and a second through hole are respectively disposed at two opposite sides of a connecting end of the upper bracket 41 and the lower bracket 42, two free ends of the [ type bracket respectively penetrate through the first through hole and the second through hole, the [ type bracket is fixed on the upper bracket 41, a third through hole and a fourth through hole are respectively disposed at two opposite sides of a connecting end of the lower bracket 42, and the two free ends of the [ type bracket respectively penetrate through the third through hole and the fourth through hole, and the ] type bracket is fixed on the lower bracket 42.
In the embodiment of the invention, the intelligent adjustment of the height of the bracket body is realized through the movable connection of the upper bracket 41 and the lower bracket 42.
Preferably, the support base 1 is L-shaped, the analysis part of the three-dimensional reconstruction vision system 2 is disposed in a bottom box of the L-shaped support base 1, and the one end of the support body 4 is movably connected to the top end of the L-shaped support base 1.
In the embodiment of the present invention, it is understood that the structure of the support base 1 of the present invention is not limited to the L-shape.
Preferably, the three-dimensional reconstruction vision system 2 comprises an electrically connected acquisition part and an analysis part, 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 disc 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 vision recognition, 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 includes a memory 25, and the memory 25 is electrically connected to the controller 22.
In the embodiment of the invention, the memory 25 stores the processing data of the controller 22 to realize the memory function and the action instruction reproduction of the bionic movement of the bracket body 4.
The same or similar reference numerals correspond to the same or similar components;
the positional relationship depicted in the drawings is for illustrative purposes only and is not to be construed as limiting the present patent;
it is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims (8)

1. The support based on human body posture control is characterized by comprising a support seat, a three-dimensional reconstruction vision system, a bionic driving member, a support body and a claw disc, wherein the three-dimensional reconstruction vision system is electrically connected with the bionic driving member, one end of the support body is movably connected with the support seat through the bionic driving member, and the other end of the support body is movably connected with the claw disc through the bionic driving member;
the bionic driving component comprises a third steering engine unit and a connecting line group, the third steering engine unit is arranged at the other end of the bracket body, the third steering engine unit at least comprises a pair of micro steering engines provided with rotating discs, each micro steering engine corresponds to one claw finger, the connecting line group at least comprises two groups of winding connecting lines, each group of winding connecting lines corresponds to one micro steering engine, each group of winding connecting lines comprises a winding wire and a tension wire, one end of the winding wire is fixed at the top end of a finger, the other end of the winding wire penetrates through the finger from the top end of the finger, the palm center side of the palm and the palm center side of a wrist joint and is fixed at one side of the micro steering engine rotating disc, one end of the tension wire is fixed at the top end of the finger, the other end of the tension wire penetrates through the finger from the top end of the palm, and the palm center side of the wrist joint, and is fixed at the opposite side of the micro steering engine rotating disc;
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 a 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 a bionic driving member.
2. The human body posture control-based bracket according to claim 1, wherein the bionic driving member 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, a first thread is arranged on the outer periphery of the first steering engine rotating shaft, the first steering engine rotating shaft penetrates through a first gear center hole and is connected with the first thread in a matched mode, the first gear is fixed on the first steering engine rotating shaft through the first locking nut, a first matched gear is arranged at one end of the bracket body, and the one end of the bracket body is movably connected to the supporting seat through meshing engagement of the first gear and the first matched gear.
3. The human body posture control-based bracket according to claim 1, wherein the bionic driving member 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, the outer periphery of the first steering engine rotating shaft is provided with internal threads, the central hole surface of the first gear is provided with external threads which are connected with the first threads in a matching manner, the first steering engine rotating shaft penetrates through the central hole of the first gear to be connected with the first gear in a matching manner, the first gear is embedded at one end of the first central shaft, and the other end of the first central shaft is connected with the one end of the bracket body through the first bolt.
4. The human body posture control-based bracket according to claim 2 or 3, wherein the bionic driving member further comprises a second steering engine, a [ type bracket, ] 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, a pair of symmetrical gears are respectively fixed on two free ends of the [ type bracket, the other pair of symmetrical gears are respectively fixed on 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 body of the second steering engine, the longitudinal side of the [ type bracket is fixedly connected with the other end of the bracket body through the second bolt, and the longitudinal side of the ] type bracket is fixedly connected with a claw disc through the third bolt.
5. The human body posture control-based bracket according to 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 at the other end of the bracket body, a second thread is arranged on the outer periphery of a rotating shaft of the second steering engine, the second steering engine rotating shaft penetrates through a center hole of the second gear, the second gear is fixed at the second steering engine rotating shaft through the second locking nut in matched connection with the second thread, a second matched gear is arranged at the bottom of the claw disc, and the claw disc is movably connected to the other end of the bracket body through meshing of the second gear and the second matched gear.
6. The support based on human body posture control according to claim 1, wherein the support body comprises an upper support and a lower support which are movably connected, the bionic driving member 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, two symmetrical gears are respectively fixed on two free ends of the [ type support, the other pair of symmetrical gears are respectively fixed on two free ends of the [ type support, the transverse length of the [ type support and the ] type support is larger than that of a machine body of the fourth steering engine, a first through hole and a second through hole are respectively arranged on two opposite sides of a connecting end of the upper support and the lower support, the two free ends of the [ type support respectively penetrate through the first through hole and the second through hole, the [ type support is fixed on the upper support, a third through hole and a fourth through hole are respectively arranged on two opposite sides of the connecting end of the lower support, and the two free ends of the [ type support respectively penetrate through the third through hole and the fourth through hole, and the ] type support is fixed on the lower support.
7. The human body posture control-based support of claim 1, wherein the support base is L-shaped, the analysis part of the three-dimensional reconstruction vision system is disposed in a bottom box of the L-shape of the support base, and the one end of the support base body is movably connected to a top end of the L-shape of the support base.
8. The body posture control based support 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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