CN114100085B - Intelligent interactive motion human body decompression method and device - Google Patents

Intelligent interactive motion human body decompression method and device Download PDF

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Publication number
CN114100085B
CN114100085B CN202010902594.0A CN202010902594A CN114100085B CN 114100085 B CN114100085 B CN 114100085B CN 202010902594 A CN202010902594 A CN 202010902594A CN 114100085 B CN114100085 B CN 114100085B
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display
user
axis
coordinate system
rectangular coordinate
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CN114100085A (en
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刘涛
张仕宏
钟驰
李文莲
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Da'ai Doctor Group Shenzhen Co ltd
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Da'ai Doctor Group Shenzhen Co ltd
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Priority to PCT/CN2020/117132 priority patent/WO2022047853A1/en
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00—Measuring physiological parameters of the user
    • A63B2230/62—Measuring physiological parameters of the user posture
    • A63B2230/625—Measuring physiological parameters of the user posture used as a control parameter for the apparatus

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

The application discloses an intelligent interactive sports human body decompression method and device, and the method comprises the following steps: s01, reference confirmation, S02, display first position definition, S03, first threshold judgment, S04, secondary judgment, and S05, display reverse movement. This application can realize the display and human intelligent interactive motion, through the motion of display, changes the relative position between display and the user, and the human gesture of guide is adjusted in step to reach human decompression, guide user gets back to the purpose of correct human gesture. The intelligent interactive motion human body decompression method realizes the adjustment of the position motion of the display through reference confirmation, first position definition, first threshold judgment, first motion, secondary judgment and reverse motion. And further, the purpose that the user is guided to follow the movement and adjust the posture of the human body by the movement of the display is achieved, and the purposes that the human body is decompressed and the user is guided to return to the correct posture of the human body are achieved.

Description

Intelligent interactive type moving human body decompression method and device
Technical Field
The invention relates to the field of mechanical equipment, in particular to an intelligent interactive motion human body decompression method and device. The application provides an intelligent interactive motion human body decompression method and device, and relates to a display motion method and device, which can guide a user to perform corresponding follow-up motion so as to achieve the purposes of adjusting human body posture, performing human body decompression and guiding the user to return to the correct human body posture.
Background
In daily work and life, people often need to face the display for a long time. In the process, the display is generally in a fixed state, the relative position between the human and the computer is relatively fixed, the human eyes stare at the fixed display for a long time, the visual distance between the human eyes and the computer is in a fixed range for a long time, and the probability of myopia is greatly increased. Meanwhile, when a human body is in an unhealthy posture and the cervical vertebra is in a bent position or a certain specific position for a long time, the pressure in the cervical intervertebral disc is increased, the neck muscles are in an uncoordinated stress state, the muscles and ligaments at the back of the neck are easy to be pulled and damaged, and the front edges of the vertebral bodies rub against each other and are easy to proliferate. Some people have symptoms of soreness of the neck, shoulder and back, and some people also have a heavy sensation of numbness and distension in the shoulders, inter-scapular region and upper arms.
The health problems of myopia formation, cervical vertebra bone lesion and the like are mostly irreversible. Aiming at the problems, the later treatment mode is mainly adopted at present, the external treatment means such as operation and the like are mainly adopted, the treatment cost is high, and the patient needs to suffer from corresponding pain. For this reason, the best approach would be to intervene earlier, reducing the occurrence of the corresponding condition.
At present, the existing display motion devices in the market are mainly divided into two types:
one is that the display is connected with a bracket, a damping piece is arranged on the bracket, the position of the display can be changed by adjusting the bracket, the movement of the display belongs to a driven state and needs to be adjusted manually by a user, and the movement is not continuous;
the other type is that the bracket drives the display to move according to a set mode, for example, the bracket drives the display to do circular motion, the mode realizes the continuous motion of the display, and the mode can adjust the distance between the eyes of the user and the display; however, when the user is in a wrong body posture, the user cannot be guided correspondingly, and certain limitations are provided.
To this end, a new method and/or apparatus is urgently needed to solve the above problems.
Disclosure of Invention
The invention aims to provide an intelligent interactive motion human body decompression method and device, which can realize intelligent interactive motion of a display and a human body, change the relative position between the display and a user through the motion of the display, and guide the human body posture to be synchronously adjusted, so that the purposes of decompressing the human body and guiding the user to return to the correct human body posture are achieved. The intelligent interactive motion human body decompression method realizes the adjustment of the position motion of the display through reference confirmation, first position definition, first threshold judgment, first motion, secondary judgment and reverse motion. And further, the purpose of guiding the user to follow the movement, adjusting the posture of the human body, reducing the pressure of the human body and guiding the user to return to the correct posture of the human body is achieved through the movement of the display.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent interactive sports human body decompression method comprises the following steps:
s01, reference confirmation
Acquiring reference data under a correct human body posture to obtain first coordinate information;
when a user moves the human body pressure reducing device in front of the intelligent interactive motion, the head of the user faces the front of the human body, the eyes of the user horizontally and directly look ahead, the trunk of the user is vertical to the ground, the spine of the user is in a neutral position, the normal curvature and balance state are kept, the shoulders of the user naturally droop, the shoulders of the user are parallel to the horizontal plane, and the posture of the user is the correct human body posture;
when a user is in a correct human body posture, setting a middle point of a line connecting two eyes of the user as a first coordinate origin, and establishing a first space rectangular coordinate system, wherein 3 coordinate axes are an X axis, a Y axis and a Z axis respectively; recording a projection point of the right eye of the user on a horizontal plane where the first coordinate origin is located as an X-axis positive value point, setting a Y axis along the horizontal plane direction and setting a Z axis along the direction perpendicular to the horizontal plane by taking the direction from the first coordinate origin to the X-axis positive value point as the X-axis positive value direction;
acquiring three-dimensional coordinates of key points of human bones of a user in a first space rectangular coordinate system through a posture information acquisition device, and recording the obtained coordinates as first coordinate information;
s02, first position definition of display
Moving the center point of the working surface of the display to the same height of the middle point of the connecting line of the two eyes of the user in the first coordinate information, wherein the working surface of the display is positioned right in front of the two eyes of the user, the distance between the middle point of the connecting line of the two eyes and the center point of the working surface of the display is a first set value, and the position of the display at the moment is defined as the first position of the display; after the display reaches the first position, performing a first movement;
s03, judging a first threshold value
In the process of carrying out first movement on the display, judging whether the gesture of the user exceeds a first threshold value through the gesture information acquisition device; if the gesture of the user exceeds a first threshold value, controlling the display to return to the first position of the display; if the gesture of the user is within the first threshold range, the display performs a first motion;
s04, secondary judgment
After the display returns to the first position of the display, capturing the body posture of the user by using a posture information acquisition device; if the human body posture of the user at the moment is within a first threshold range of the correct human body posture, performing first motion on the display; if the body posture of the user at the moment exceeds the first threshold range of the correct body posture, performing step S05;
s05, the display moves reversely
Forming 8 divinatories by using the established first space rectangular coordinate system, wherein the values of x1, y1 and z1 in any point coordinate (x 1, y1 and z 1) in the divinatories are not 0; the X axis and the Y axis, the X axis and the Z axis, and the Y axis and the Z axis of the first space rectangular coordinate system form 3 planes, each plane has 4 quadrants, and one value of X2, Y2 and Z2 in any point coordinate (X2, Y2 and Z2) in the quadrants is 0; the X-axis positive and negative half shaft, the Y-axis positive and negative half shaft and the Z-axis positive and negative half shaft of the first space rectangular coordinate system form 6 half shafts, and two values of X3, Y3 and Z3 in any point coordinate (X3, Y3 and Z3) in the half shafts are 0;
judging a region of the user in a first space rectangular coordinate system where the middle point of the two-eye connection line is positioned at the moment, and recording the region as a first region; setting the coordinate of the middle point of the connecting line of the two eyes of the user in the first space rectangular coordinate system as P1 (a, b, c);
when the display is positioned at the first position of the display, setting the central point of the working surface of the display as a second coordinate origin, and establishing a second space rectangular coordinate system; the X 'axis, the Y' axis and the Z 'axis of the second space rectangular coordinate system are respectively arranged in parallel with the X axis, the Y axis and the Z axis of the first space rectangular coordinate system correspondingly, and the positive direction of the X axis in the first space rectangular coordinate system is the same as the positive direction of the X' axis in the second space rectangular coordinate system;
sequentially taking the values of a, b and c in the coordinates P1 (a, b and c) as opposite numbers-a, -b and-c, and moving the central point of the working surface of the display to the region where the coordinates P2 (-a, -b and-c) of the second rectangular space coordinate system are located, wherein the region is the opposite region of the first region in the second rectangular space coordinate system and is marked as a first opposite region; the central point of the working surface of the display moves in the first opposite area, the sight of the user moves along with the working surface of the display, so that the head of the user is driven to move along with the working surface of the display, the head of the user moves to drive the body of the user to move, the posture of the human body of the user driven by the movement of the display can be changed, and the user is guided to return to the correct posture of the human body;
the first threshold is set as follows:
based on the first coordinate information in the correct human body posture in the step S01, calculating a displacement distance of a middle point of a connection line between two eyes of the user, a displacement distance of a middle point of a connection line between two shoulder bone key points, a line-surface included angle between a line connecting the two eyes and a horizontal plane, a line-surface included angle between a line connecting the two shoulder bone key points and a horizontal plane, a line-surface included angle between a line connecting the two eyes and a display working plane, and a line-surface included angle between a line connecting the two shoulder bone key points and a display working plane, and taking one or more of the above data to set as a first threshold.
The first movement of the display includes one or more of:
s31, the mechanical arm drives the central point of the working face of the display to move along the X' axis direction of the second space rectangular coordinate system;
s32, the mechanical arm drives the central point of the working surface of the display to move along the Y' axis direction of the second space rectangular coordinate system;
s33, the mechanical arm drives the central point of the working face of the display to move along the Z' axis direction of the second space rectangular coordinate system.
The first movement of the display includes one or more of:
s311, the central point of the working surface of the display is driven by the mechanical arm to move along the positive direction of the X' axis of the second space rectangular coordinate system until the central point of the working surface of the display can move to the maximum value of the display;
s312, the mechanical arm drives the central point of the working face of the display to move along the negative value direction of the X' axis of the second space rectangular coordinate system until the central point of the working face of the display can move to the maximum value of the display;
s321, driving the central point of the working surface of the display to move along the positive direction of the Y' axis of the second space rectangular coordinate system to the maximum value which the display can move to by the mechanical arm;
s322, the mechanical arm drives the central point of the working surface of the display to move along the negative value direction of the Y' axis of the second space rectangular coordinate system until the display can move to the maximum value;
s331, the mechanical arm drives the central point of the working face of the display to move along the positive direction of the Z' axis of the second space rectangular coordinate system until the central point of the working face of the display can move to the maximum value of the display;
s332, the mechanical arm drives the central point of the working face of the display to move along the negative value direction of the Z' axis of the second space rectangular coordinate system until the central point of the working face of the display can move to the maximum value of the display.
In the step S02, the distance between the middle point of the binocular connecting line and the central point of the working surface of the display is 30-120cm; preferably, the distance is 75cm.
A device for the method comprises a mechanical arm, a display, a posture information acquisition device and a control system;
the mechanical arm comprises a base, a vertical lifting device and a horizontal rotating device, the vertical lifting device is connected with the base, the base can provide support for the vertical lifting device, the horizontal rotating device is connected with the vertical lifting device and can drive the horizontal rotating device to move along the vertical direction, the display is connected with the horizontal rotating device and the horizontal rotating device can drive the display to rotate relative to the vertical lifting device;
the attitude information acquisition device is connected with the base or the vertical lifting device and can keep static relative to the base or the vertical lifting device;
the vertical lifting device, the horizontal rotating device and the attitude information acquisition device are respectively connected with the control system;
the attitude information acquisition device is a depth image acquisition device.
The horizontal direction rotating device comprises a first cantilever and a first rotating assembly;
one end of the first cantilever is movably connected with the vertical lifting device, the other end of the first cantilever is connected with the display, and the first cantilever can drive the display to move synchronously;
the vertical direction lifting device is connected with the first rotating assembly and can provide support for the first rotating assembly, the first rotating assembly is connected with the first cantilever and can drive the first cantilever to rotate relative to the vertical direction lifting device;
the first rotating assembly is connected to a control system.
The first rotating assembly comprises a first motor and a first speed reducer, the first motor is connected with the vertical lifting device, the vertical lifting device can provide support for the first motor, and the first motor is connected with the first cantilever through the first speed reducer;
or the first speed reducer is connected with the vertical direction lifting device, the vertical direction lifting device can provide support for the first speed reducer, and the first speed reducer is connected with the first cantilever through a first motor;
the first motor is connected with the control system.
The first angle measurer is connected with the control system and can measure the axial rotation angle information of the first cantilever relative to the rotation center of the first cantilever and transmit the rotation angle information to the control system.
The display device further comprises a second rotating assembly, the first cantilever is connected with the display through the second rotating assembly, and the display can rotate relative to the first cantilever through the second rotating assembly.
The second rotating assembly comprises a second motor, a second speed reducer and a second angle measurer, the first cantilever is connected with the second motor, and the second motor is connected with the display through the second speed reducer;
or the first cantilever is connected with a second speed reducer, and the second speed reducer is connected with a display through a second motor;
the second angle measurer is connected with the control system and can measure the rotation angle of the display relative to the first cantilever;
the second motor is connected with the control system, and the control system can control the rotation of the second motor to adjust the rotation of the display relative to the first cantilever.
The first angle measurer and the second angle measurer are independent sensors or the same sensor.
The depth image acquisition device is one or more of a laser radar depth imaging device, a computer stereoscopic vision imaging device, a moire fringe depth imaging device and a structured light depth image acquisition device.
In order to solve the problems, the application provides an intelligent interactive sports human body decompression method and device. The method comprises the steps of firstly, performing reference confirmation on a user, defining a first position of a display, and judging whether the position is in a first threshold value; when the user is in the first threshold range, performing a first movement, namely when the user is in the first threshold range, performing the first movement on the display to drive the user to move along with the position of the display so as to synchronously perform eye movement, head and neck movement and the like, thereby achieving the purpose of reducing the pressure of the human body; when the user exceeds the first threshold range, the display moves reversely, namely the display moves reversely based on the human body posture of the user, and the user can realize that the posture of the user is in an error state and can further perform corresponding adjustment, so that the user can return to the correct human body posture range to achieve the purpose of correcting the human body posture.
Further, the present application provides an apparatus for the aforementioned intelligent interactive sports body pressure reduction method. The device comprises a mechanical arm, a display, a posture information acquisition device and a control system; the mechanical arm comprises a base, a vertical lifting device and a horizontal rotating device, the vertical lifting device is connected with the base, the base can provide support for the vertical lifting device, the horizontal rotating device is connected with the vertical lifting device and can drive the horizontal rotating device to move along the vertical direction, the display is connected with the horizontal rotating device and the horizontal rotating device can drive the display to rotate relative to the vertical lifting device; the attitude information acquisition device is connected with the base or the vertical lifting device and can keep static relative to the base or the vertical lifting device; the vertical lifting device, the horizontal rotating device and the attitude information acquisition device are respectively connected with the control system. In the structure, the vertical lifting device and the horizontal rotating device are matched with each other, so that the movement of the display in a three-dimensional space can be realized, the arrangement of the posture information acquisition device can realize the acquisition of a depth image of a human body posture, and further, the operations of reference confirmation, first threshold judgment and the like are realized.
Meanwhile, in the aspect of rotation, the cooperation of the motor and the speed reducer is adopted, so that the movement of the display in the horizontal direction can be realized; the rotating robot arms are each provided with an angle measurement by means of which the rotational position of a component in the robot arm can be measured. In the application, the attitude information acquisition device is connected with the base or the vertical lifting device and keeps the relative rest of the base and the vertical lifting device; in this application, gesture information acquisition device's effect is mainly for catching human depth image information.
Further, the attitude information acquisition device of the application adopts one or more of a laser radar depth imaging device, a computer stereo vision imaging device, a moire fringe depth imaging device and a structured light depth image acquisition device.
Compared with the prior art, the innovation of the application is as follows: the intelligent interactive moving human body decompression method is not mechanical repeated movement, but collects depth image information of human body postures in real time, inputs the information into the control system, and judges whether the human body bone key point data of the user are within a threshold value of a correct posture. If the data exceeds the threshold value, the control system adjusts the position of the display, the display moves reversely relative to the user, the posture of the user is guided to correspondingly adjust along with the movement of the display, and the data of the human skeleton key points of the user returns to be within the threshold value of the correct posture.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a schematic diagram of the intelligent interactive sports human body pressure reduction device in the folded state in this embodiment 1.
Fig. 2 is a top view of fig. 1.
Fig. 3 is a top view of the base of fig. 2 shown expanded.
Fig. 4 is a schematic view showing a state in which the vertical elevating device is partially unfolded in embodiment 1.
Fig. 5 is a schematic view illustrating a state in which the lifting device in the vertical direction of fig. 4 is completely unfolded.
Figure 6 is a top view of a smart interactive sports body pressure reduction device deployed according to example 1.
Fig. 7 is a first schematic view of a first intelligent interactive athletic human body pressure reduction device of example 1.
Fig. 8 is a top view of fig. 7.
Figure 9 is a second schematic diagram of the intelligent interactive athletic human body pressure reduction device of example 1.
Figure 10 is a third schematic view of the intelligent interactive athletic human body pressure reduction device of example 1.
Fig. 11 is a top view of fig. 10.
The labels in the figure are: 1. the device comprises a display, 2, a base, 3, a vertical lifting device, 4, a horizontal rotating device, 5, a central support, 6, base side plates, 7 and an angle adjusting assembly.
Detailed Description
All of the features disclosed in this specification, or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification may be replaced by alternative features serving an equivalent or similar purpose, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Example 1
The embodiment provides an intelligent interactive motion human body pressure reducing device which comprises a mechanical arm, a display, a posture information acquisition device and a control system. The mechanical arm comprises a base, a vertical lifting device and a horizontal rotating device, wherein the vertical lifting device is connected with the base and provides support for the vertical lifting device through the base; the horizontal rotating device is connected with the vertical lifting device, and the vertical lifting device drives the horizontal rotating device to move along the vertical direction.
In this embodiment, the base includes central support, base curb plate, and the base curb plate is a set of and the base curb plate symmetry sets up in central support both sides, base curb plate and central support swing joint, and the base curb plate can rotate relative central support. In the embodiment, when the base side plates are vertically foldable, the containing space of the display is formed between the two base side plates, and the display can be placed in the containing space. By adopting the structure, when the vertical lifting device, the horizontal rotating device base side plate and the display are all in the storage state, the whole structure is minimum, and the user can move and carry conveniently.
In this embodiment, horizontal direction rotary device includes first cantilever, rotating assembly, the one end and the vertical direction elevating gear swing joint of first cantilever, and the other end of first cantilever links to each other with the display, can drive display synchronous motion through first cantilever. Meanwhile, the rotating assembly comprises a first motor and a speed reducer, the first motor is connected with the vertical lifting device, and the vertical lifting device can provide support for the first motor; the first motor is connected with the first cantilever through a speed reducer.
Further, in this embodiment, the rotating assembly further includes a first angle measuring device, the first angle measuring device is connected to the first cantilever, and the first angle measuring device is configured to measure a rotation angle of the first cantilever.
Meanwhile, the attitude information acquisition device is connected with the base, and the attitude information acquisition device can keep static relative to the base. Through the attitude information acquisition device, the real-time measurement can be carried out on the user in front of the mechanical arm.
In this embodiment, the vertical direction lifting device, the posture information collecting device, the first motor, and the first angle measurer are respectively connected to the control system. In the embodiment, the attitude information acquisition device is a depth image acquisition device; preferably, the attitude information acquisition device adopts a computer stereoscopic vision imaging device.
Further, the intelligent interactive sports human body decompression method in the embodiment comprises the following steps.
S01, reference confirmation
And acquiring reference data under a correct human body posture to obtain first coordinate information.
When the user is in the human pressure relief device dead ahead of intelligent interactive motion, its head is towards the health dead ahead, and the eyes level is directly looked at the place ahead, and the truck keeps perpendicular with ground, and the backbone is in neutral position, keeps normal curvature and balanced state, and the muscle that cervical vertebra and back maintained the backbone keeps normal human mechanics state, and its both shoulders hang down naturally and both shoulders are parallel with the horizontal plane, and user's gesture is exact human gesture this moment.
When a user is in a correct human body posture, setting a middle point of a line connecting two eyes of the user as a first coordinate origin, and establishing a first space rectangular coordinate system, wherein 3 coordinate axes are an X axis, a Y axis and a Z axis respectively; recording a projection point of the right eye of the user on a horizontal plane where the first coordinate origin is located as an X-axis positive value point, setting a Y-axis along the direction of the horizontal plane and setting a Z-axis along the direction vertical to the horizontal plane by taking the direction from the first coordinate origin to the X-axis positive value point as the X-axis positive value direction;
the three-dimensional coordinates of the key points of the human skeleton of the user in the first space rectangular coordinate system are collected through the posture information collecting device, and the obtained coordinates are recorded as first coordinate information.
S02, first position definition of display
Moving the center point of the working surface of the display to the same height as the middle point of the connecting line of the eyes of the user, wherein the working surface of the display is positioned right in front of the eyes of the user, the distance between the middle point of the connecting line of the eyes and the center point of the working surface of the display is a first set value, and the position of the display at the moment is defined as a first position of the display; and after the display reaches the first position, performing a first motion.
S03, judging a first threshold value
In the process of carrying out first movement on the display, judging whether the gesture of the user exceeds a first threshold value through the gesture information acquisition device; if the gesture of the user exceeds a first threshold value, controlling the display to return to the first position of the display; if the user's gesture is within the first threshold range, the display performs a first motion.
S04, secondary judgment
After the display returns to the first position of the display, capturing the body posture of the user by using a posture information acquisition device; if the human body posture of the user at the moment is within a first threshold range of the correct human body posture, performing first motion on the display; if the body posture of the user at this time is out of the first threshold range of the correct body posture, step S05 is performed.
S05, the display moves reversely
Forming 8 divinatories by using the established first space rectangular coordinate system, wherein the values of x1, y1 and z1 in any point coordinate (x 1, y1 and z 1) in the divinatories are not 0; the X axis and the Y axis, the X axis and the Z axis, and the Y axis and the Z axis of the first space rectangular coordinate system form 3 planes, each plane has 4 quadrants, and one value of X2, Y2 and Z2 in any point coordinate (X2, Y2 and Z2) in the quadrants is 0; the X-axis positive and negative half shaft, the Y-axis positive and negative half shaft and the Z-axis positive and negative half shaft of the first space rectangular coordinate system form 6 half shafts, and two values of X3, Y3 and Z3 in any point coordinate (X3, Y3 and Z3) in the half shafts are 0;
judging the area of the user in the first space rectangular coordinate system where the middle point of the connecting line of the two eyes is positioned at the moment, and recording the area as a first area; setting the coordinate of the middle point of the connecting line of the two eyes of the user in the first space rectangular coordinate system as P1 (a, b, c);
establishing a second space rectangular coordinate system by taking the central point of the working surface of the display as a second coordinate origin when the display is at the first position of the display; the X 'axis, the Y' axis and the Z 'axis of the second space rectangular coordinate system are respectively arranged in parallel with the X axis, the Y axis and the Z axis of the first space rectangular coordinate system correspondingly, and the positive direction of the X axis in the first space rectangular coordinate system is the same as the positive direction of the X' axis in the second space rectangular coordinate system;
sequentially taking the values of a, b and c in the coordinates P1 (a, b and c) as the inverse numbers-a, -b and-c, and moving the central point of the working surface of the display to the region where the coordinates P2 (-a, -b and-c) of the second space rectangular coordinate system are located, wherein the region is the opposite region of the first region in the second space rectangular coordinate system and is marked as a first opposite region; the central point of the working surface of the display moves in the first opposite area, the sight of the user moves along with the working surface of the display, so that the head of the user is driven to move along with the working surface of the display, the head of the user moves to drive the body of the user to move, the display can move to drive the human body posture of the user to change, and the user is guided to return to the correct human body posture.
The maximum length of the rotating arm which does horizontal rotation motion is set to be 60cm, and the moving range of the central point of the working surface of the display cannot exceed the length limit of the rotating arm and the telescopic range limit of the vertical lifting structure;
the example sets the movement speed of the center point of the working surface of the display to be 1cm/s.
The first threshold is set as follows:
based on the first coordinate information in the correct human body posture in the step S01, calculating a displacement distance of a middle point of a connection line of two eyes of the user, a displacement distance of a middle point of a connection line of two shoulder skeleton key points, a line-surface included angle between a line connecting straight line of two eyes and a horizontal plane, a line-surface included angle between a line connecting straight line of two shoulder skeleton key points and a horizontal plane, a line-surface included angle between a line connecting straight line of two eyes and a working plane of the display, and a line-surface included angle between a line connecting straight line of two shoulder skeleton key points and a working plane of the display, and taking one or more of the above data to set as a first threshold.
In the step S02, the distance between the middle point of the binocular connecting line and the central point of the working surface of the display is 30-120cm; preferably, the distance is 75cm.
Preferably, this embodiment still includes angle adjustment assembly, and first cantilever passes through angle adjustment assembly and links to each other and the display passes through angle adjustment assembly and can rotate relative first cantilever.
In this embodiment, the angle adjustment assembly includes a second motor and a second angle measuring device, the first cantilever is connected to the display through the second motor, the second angle measuring device is disposed on a rotating shaft of the second motor, and the second motor and the second angle measuring device are respectively connected to the control system. In this configuration, the rotation angle of the second motor can be measured by the second angle measuring device, and the second angle measuring device can transmit the measured angle information to the control system. In this embodiment, the central axis of the rotating shaft of the second motor is perpendicular to the first suspension arm, i.e. the display can rotate around the joint between the display and the first suspension arm.
In the embodiment, the mechanical arm drives the display to move in multiple degrees of freedom within a certain range; capturing the human body state in real time through a posture information acquisition device, and acquiring the three-dimensional space coordinates of the human body skeleton key points in real time; the human body posture is analyzed in real time through the control system, the optimal position where the display should be located is calculated, and then the control system sends an adjusting instruction to the mechanical arm to enable the display to move to the optimal position. In this embodiment, all the connection support structures are connected and simultaneously play a role in supporting, and all the load bearing is shared by the connected support parts, which is equivalent to that the motor only overcomes the friction force of rotation.
The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed.

Claims (6)

1. An intelligent interactive sports human body decompression method is characterized by comprising the following steps:
s01, reference confirmation
Acquiring reference data under a correct human body posture to obtain first coordinate information;
when a user is in front of the intelligent interactive moving human body pressure reducing device, the head of the user faces to the front of the body, eyes of the user horizontally look straight ahead, the trunk of the user is vertical to the ground, the spine of the user is in a neutral position, the normal curvature and balance state are kept, shoulders of the user naturally droop, the shoulders of the user are parallel to the horizontal plane, and the posture of the user is the correct human body posture;
when a user is in a correct human body posture, setting a middle point of a line connecting two eyes of the user as a first coordinate origin, and establishing a first space rectangular coordinate system, wherein 3 coordinate axes are an X axis, a Y axis and a Z axis respectively; recording a projection point of the right eye of the user on a horizontal plane where the first coordinate origin is located as an X-axis positive value point, setting a Y-axis along the direction of the horizontal plane and setting a Z-axis along the direction vertical to the horizontal plane by taking the direction from the first coordinate origin to the X-axis positive value point as the X-axis positive value direction;
acquiring three-dimensional coordinates of the human skeleton key points of the user in a first space rectangular coordinate system through a posture information acquisition device, and recording the obtained coordinates as first coordinate information;
s02, first position definition of display
Moving the center point of the working surface of the display to the same height of the middle point of the connecting line of the two eyes of the user in the first coordinate information, wherein the working surface of the display is positioned right in front of the two eyes of the user, the distance between the middle point of the connecting line of the two eyes and the center point of the working surface of the display is a first set value, and the position of the display at the moment is defined as the first position of the display; after the display reaches the first position, performing a first movement;
s03, judging a first threshold value
In the process of carrying out first movement on the display, judging whether the gesture of the user exceeds a first threshold value through a gesture information acquisition device; if the gesture of the user exceeds a first threshold value, controlling the display to return to the first position of the display; if the gesture of the user is within the first threshold range, the display performs a first motion;
s04, secondary judgment
After the display returns to the first position of the display, capturing the body posture of the user by using a posture information acquisition device; if the human body posture of the user at the moment is within a first threshold range of the correct human body posture, performing first motion on the display; if the body posture of the user at the moment exceeds the first threshold range of the correct body posture, performing step S05;
s05, the display moves reversely
Forming 8 divinatories by using the established first space rectangular coordinate system, wherein the values of x1, y1 and z1 in any point coordinate (x 1, y1 and z 1) in the divinatories are not 0; the X axis and the Y axis, the X axis and the Z axis, and the Y axis and the Z axis of the first space rectangular coordinate system form 3 planes, each plane has 4 quadrants, and one value of X2, Y2 and Z2 in any point coordinate (X2, Y2 and Z2) in the quadrants is 0; the X-axis positive and negative half shaft, the Y-axis positive and negative half shaft and the Z-axis positive and negative half shaft of the first space rectangular coordinate system form 6 half shafts, and two values of X3, Y3 and Z3 in any point coordinate (X3, Y3 and Z3) in the half shafts are 0;
judging a region of the user in a first space rectangular coordinate system where the middle point of the two-eye connection line is positioned at the moment, and recording the region as a first region; setting the coordinate of the connecting line midpoint of the two eyes of the user in the first space rectangular coordinate system as P1 (a, b, c);
when the display is located at the first position of the display, setting the central point of the working surface of the display as a second coordinate origin, and establishing a second space rectangular coordinate system; the X 'axis, the Y' axis and the Z 'axis of the second space rectangular coordinate system are respectively arranged in parallel with the X axis, the Y axis and the Z axis of the first space rectangular coordinate system, and the positive direction of the X axis in the first space rectangular coordinate system is the same as the positive direction of the X' axis in the second space rectangular coordinate system;
sequentially taking the values of a, b and c in the coordinates P1 (a, b and c) as the inverse numbers-a, -b and-c, and moving the central point of the working surface of the display to the region where the coordinates P2 (-a, -b and-c) of the second space rectangular coordinate system are located, wherein the region is the opposite region of the first region in the second space rectangular coordinate system and is marked as a first opposite region; the central point of the working surface of the display moves in the first opposite area, the sight of the user moves along with the working surface of the display, so that the head of the user is driven to move along with the working surface of the display, the head of the user moves to drive the body of the user to move, the posture of the human body of the user driven by the movement of the display can be changed, and the user is guided to return to the correct posture of the human body;
the first threshold is set as follows:
based on the first coordinate information in the correct human body posture in the step S01, calculating a displacement distance of a middle point of a connecting line of two eyes of the user, a displacement distance of a middle point of a connecting line of two shoulder skeleton key points, a line-surface included angle between a connecting straight line of two eyes and a horizontal plane, a line-surface included angle between a connecting straight line of two shoulder skeleton key points and a horizontal plane, a line-surface included angle between a connecting straight line of two eyes and a working surface of a display, and a line-surface included angle between a connecting straight line of two shoulder skeleton key points and a working surface of the display, and taking one or more of the data to set as a first threshold;
the first movement of the display includes one or more of:
s31, the central point of the working surface of the display is driven by the mechanical arm to move along the X' axis direction of the second space rectangular coordinate system;
s32, the mechanical arm drives the central point of the working face of the display to move along the Y' axis direction of the second space rectangular coordinate system;
s33, the central point of the working surface of the display is driven by the mechanical arm to move along the Z' -axis direction of the second space rectangular coordinate system;
the device adopted by the method comprises a mechanical arm, a display, a posture information acquisition device and a control system;
the mechanical arm comprises a base, a vertical lifting device and a horizontal rotating device, the vertical lifting device is connected with the base, the base can provide support for the vertical lifting device, the horizontal rotating device is connected with the vertical lifting device and can drive the horizontal rotating device to move along the vertical direction, the display is connected with the horizontal rotating device and the horizontal rotating device can drive the display to rotate relative to the vertical lifting device;
the attitude information acquisition device is connected with the base or the vertical lifting device and can keep static relative to the base or the vertical lifting device;
the vertical lifting device, the horizontal rotating device and the attitude information acquisition device are respectively connected with the control system;
the attitude information acquisition device is a depth image acquisition device;
the horizontal direction rotating device comprises a first cantilever and a first rotating assembly;
one end of the first cantilever is movably connected with the vertical lifting device, the other end of the first cantilever is connected with the display, and the first cantilever can drive the display to move synchronously;
the vertical direction lifting device is connected with the first rotating assembly and can provide support for the first rotating assembly, the first rotating assembly is connected with the first cantilever and can drive the first cantilever to rotate relative to the vertical direction lifting device;
the first rotating assembly is connected with the control system;
the first rotating assembly comprises a first motor and a first speed reducer, the first motor is connected with the vertical direction lifting device, the vertical direction lifting device can provide support for the first motor, and the first motor is connected with the first cantilever through the first speed reducer;
or the first speed reducer is connected with the vertical direction lifting device, the vertical direction lifting device can provide support for the first speed reducer, and the first speed reducer is connected with the first cantilever through a first motor;
the first motor is connected with the control system;
the first angle measurer is connected with the control system and can measure the rotation angle information of the first cantilever relative to the rotation center axial direction of the first cantilever and transmit the rotation angle information to the control system;
the first cantilever is connected with the display through the second rotating assembly, and the display can rotate relative to the first cantilever through the second rotating assembly;
the second rotating assembly comprises a second motor, a second speed reducer and a second angle measurer, the first cantilever is connected with the second motor, and the second motor is connected with the display through the second speed reducer;
or the first cantilever is connected with a second speed reducer, and the second speed reducer is connected with a display through a second motor;
the second angle measurer is connected with the control system and can measure the rotation angle of the display relative to the first cantilever;
the second motor is connected with the control system, and the control system can control the rotation of the second motor so as to adjust the rotation of the display relative to the first cantilever;
the base comprises a central support and base side plates, the base side plates are in a group and are symmetrically arranged on two sides of the central support, the base side plates are movably connected with the central support, and the base side plates can rotate relative to the central support; when the base side plates are vertically foldable, a containing space of the display is formed between the two base side plates, and the display can be placed in the containing space.
2. The method of claim 1, wherein the first movement of the display comprises one or more of:
s311, the central point of the working surface of the display is driven by the mechanical arm to move along the positive direction of the X' axis of the second space rectangular coordinate system until the central point of the working surface of the display can move to the maximum value of the display;
s312, the mechanical arm drives the central point of the working face of the display to move along the negative value direction of the X' axis of the second space rectangular coordinate system until the central point of the working face of the display can move to the maximum value of the display;
s321, the mechanical arm drives the central point of the working face of the display to move along the positive direction of the Y' axis of the second space rectangular coordinate system until the central point of the working face of the display can move to the maximum value of the display;
s322, the mechanical arm drives the central point of the working face of the display to move along the negative value direction of the Y' axis of the second space rectangular coordinate system until the central point of the working face of the display can move to the maximum value of the display;
s331, the mechanical arm drives the central point of the working face of the display to move along the positive direction of the Z' axis of the second space rectangular coordinate system until the central point of the working face of the display can move to the maximum value of the display;
s332, the mechanical arm drives the central point of the working face of the display to move along the negative value direction of the Z' axis of the second space rectangular coordinate system until the central point of the working face of the display can move to the maximum value of the display.
3. The method according to claim 1, wherein in step S02, the distance between the middle point of the binocular connecting line and the center point of the working plane of the display is 30-120cm.
4. An intelligent interactive sports human body pressure reduction device, which is used for the intelligent interactive sports human body pressure reduction method according to any one of claims 1 to 3.
5. The device of claim 4, wherein the first angle measurer and the second angle measurer are independent sensors or the same sensor.
6. The apparatus of claim 4, wherein the depth image acquisition device is one or more of a lidar depth imaging device, a computer stereo imaging device, a moire fringe depth imaging device, and a structured light depth image acquisition device.
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