CN208841411U - A kind of brain control wheelchair mechanical arm - Google Patents
A kind of brain control wheelchair mechanical arm Download PDFInfo
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- CN208841411U CN208841411U CN201721181839.5U CN201721181839U CN208841411U CN 208841411 U CN208841411 U CN 208841411U CN 201721181839 U CN201721181839 U CN 201721181839U CN 208841411 U CN208841411 U CN 208841411U
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Abstract
The utility model discloses a kind of brain control wheelchair mechanical arms, including electric wheelchair, six degree of freedom light-type biomimetic manipulator, the first 3D body-sensing video camera, the 2nd 3D body-sensing video camera, laser radar, left side bracket, fore-stock, electrode cap, amplifier, PC machine, the six degree of freedom light-type biomimetic manipulator is fixed on the left front of electric wheelchair；The PC machine is for showing stimulation interface；The electrode cap is transferred to PC machine for acquiring EEG signals after processing；The front that the laser radar, the first 3D body-sensing video camera and the 2nd 3D body-sensing video camera are fixed on electric wheelchair by connecting the fore-stock of electric wheelchair.The spatial movement and executive capability of the ground moving ability of the utility model combination wheelchair, the signal acquisition ability of electrode cap, the signal amplifying power of amplifier, laser radar stationkeeping ability, the recognition capability of 3D body-sensing video camera and mechanical arm, it assists old man, disabled person to complete activities of daily life, improves its quality of life.
Description
Technical field
The utility model patent belongs to the brain control wheelchair robot arm device for carrying mechanical arm, carries more particularly to one kind
The brain control electric wheelchair mechanical arm of one six degree of freedom light-type biomimetic manipulator.
Background technique
Being constantly progressive and develop with society, the aging of population phenomenon in China or even the world is increasingly severe, old
Population is more and more.It being shown according to China National Bureau of Statistics of China's latest data, national population in 2016 is about 1,382,710,000 people,
65 years old and 149,330,000 people of the above population, account for the 10.8% of total population.Simultaneously as various natural and man-made calamities, the quantity of disabled person
Also it is being constantly increasing.According to China Disabled Federation's survey data, 2010 year end China disabled person total numbers of persons reach 8502
Ten thousand people, wherein 24,720,000 people of physical disabilities, 25,180,000 people of multiple disabilities.For the above crowd, either the elderly or deformity
People, it is many inconvenient or even difficult to all suffer from social life.Especially for some handicapped the elderlys or
Have for the people of physical disabilities, is able to carry out the great demand taken care of oneself into they or they relatives.Therefore,
The certain autonomous actions ability of user can either be given by developing one kind, and user can be allowed easily to interact with the external world
Wheelchair mechanical arm be very it is necessary to.In this brain control wheelchair mechanical arm, electrode cap can facilitate to collect National People's Congress's brain
EEG signals cooperate the signal amplification and processing capacity of amplifier, can be realized the acquisition of the consciousness of people；Six degree of freedom light weight
Type biomimetic manipulator has the advantages that from heavy and light, flexible, interaction is easy, has on scientific research field be widely applied very much at present,
And due to its these advantages, it can complete the task of many complexity；Electric wheelchair then possess convenient and fast locomotivity with
And intelligentized control device, can mobile task easily be realized for user.The utility model ties the advantages of three person
Altogether, make the brain control wheelchair mechanical arm that can either realize that space is mobile, and interactive task that can be certain with extraneous realization, very
It is inconvenient to solve the problems, such as that most of the elderlys and disabled person live well, improves the life matter of the elderly and the disabled
Amount.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of brain control wheelchair mechanical arm.
In order to realize above-mentioned purpose of utility model, the technical solution adopted is as follows:
A kind of brain control wheelchair mechanical arm, comprising: electric wheelchair, six degree of freedom light-type biomimetic manipulator, the first 3D body-sensing
Video camera, the 2nd 3D body-sensing video camera, laser radar, left side bracket, fore-stock, electrode cap, amplifier, PC machine, described six
The left front that freedom degree light-type biomimetic manipulator is fixed on electric wheelchair by connecting the left side bracket of electric wheelchair, is used for
Execute crawl task according to the location information of target object, and according to the 2nd 3D body-sensing video camera to the identification of user face with
Target object is moved to target position by location information；For showing stimulation interface, stimulation user generates corresponding the PC machine
EEG signals；The electrode cap is used to acquire the EEG signals of user, the signal after acquisition by amplifier amplification,
After filtering, analog-to-digital conversion process, then transfers data to PC machine and carry out signal detection；The laser radar, the first 3D body-sensing
The front that video camera and the 2nd 3D body-sensing video camera are fixed on electric wheelchair by connecting the fore-stock of electric wheelchair is used for electricity
The real-time positioning and the identification and positioning of target object and user face of wheelchair position.
Further, the first 3D body-sensing video camera, the 2nd 3D body-sensing video camera are all made of Kinect.
Further, the left side bracket is fixed on electric wheelchair chassis and prolongs from the left front on electric wheelchair chassis
It stretches, while being provided with the mechanical interface connecting respectively with six degree of freedom light-type biomimetic manipulator and electric wheelchair and fixation
Interface.
Further, the fore-stock be fixed on electric wheelchair chassis and from the front on electric wheelchair chassis extend and
Out；The bottom of the fore-stock is provided with the fixed interface connecting with electric wheelchair.
Further, the support construction for installing fixed laser radar is provided in the middle part of the fore-stock, before described
The top of bracket 7, which is arranged at intervals with two and is respectively used to installation, fixes the first 3D body-sensing video camera and the 2nd 3D body-sensing video camera
Support platform.
Further, the first 3D body-sensing camera post is taken the photograph in the surface of laser radar, the 2nd 3D body-sensing
Shadow machine is located at the top of the first 3D body-sensing video camera and camera direction is opposite with the first 3D body-sensing video camera.
Further, the placement height of the laser radar is away from ground 1m-1.1m.
Compared with prior art, the utility model patent is by electric wheelchair and six degree of freedom light-type biomimetic manipulator group
At, it is convenient, highly-safe and the characteristics of possess intelligentized handling controller to fully play electric wheelchair, while by
In have the advantages that six degree of freedom light-type biomimetic manipulator from heavy and light, flexibly, interaction it is easy, so as to assist old man, deformity
People completes activities of daily life, improves their quality of life and has a possibility that subsequent development.
Detailed description of the invention
Fig. 1 is the electronic autonomous wheelchair mechanical arm overall structure diagram of the utility model embodiment.
Fig. 2 is the fore-stock and laser radar and two kinect structural schematic diagrams thereon of the utility model embodiment.
Fig. 3 is the left side bracket and six degree of freedom light-type bionic mechanical arm configuration thereon of the utility model embodiment
Schematic diagram.
Fig. 4 is the electrode cap structural schematic diagram of the utility model embodiment.
Fig. 5 is the amplifier architecture schematic diagram of the utility model embodiment.
It is as shown in the figure: 1- electric wheelchair；2- six degree of freedom light-type biomimetic manipulator；The first 3D body-sensing video camera of 3-；4-
2nd 3D body-sensing video camera；5- laser radar；The left side 6- bracket；7- fore-stock；8- electrode cap；9- amplifier；10:PC machine.
Specific embodiment
Utility model is described further with reference to the accompanying drawing.
As shown in Figure 1, a kind of brain control wheelchair mechanical arm, including electric wheelchair 1, six degree of freedom light-type biomimetic manipulator 2,
First 3D body-sensing video camera 3, laser radar 5, left side bracket 6, fore-stock 7, electrode cap 8, is put the 2nd 3D body-sensing video camera 4
Big device 9, PC machine 10, the six degree of freedom light-type biomimetic manipulator 2 are fixed on by connecting the left side bracket of electric wheelchair 1
The left front of electric wheelchair 1 for executing crawl task according to the location information of target object, and is photographed according to the 2nd 3D body-sensing
Identification and location information of the machine 4 to user face, send target object to the target position to user on the face；The PC machine
10 for showing stimulation interface, and stimulation user generates corresponding EEG signals；The electrode cap 8 is adopted for EEG signals
Collection, the signal after acquisition is after the amplification of amplifier 9, filtering, analog-to-digital conversion process, then transfers data to the progress of PC machine 10
Signal detection；Laser radar 5, the first 3D body-sensing video camera 3 and the 2nd 3D body-sensing video camera 4 passes through connection electric wheelchair
1 fore-stock 7 is fixed on the front of electric wheelchair 1, the real-time positioning of the position for electric wheelchair 1 and target object and makes
The identification and positioning of user face；The PC machine 10 is also used to handle the first 3D body-sensing video camera 3 and the photography of the 2nd 3D body-sensing
The visual signal that machine 4 transmits；The first 3D body-sensing video camera 3, the 2nd 3D body-sensing video camera 4 are all made of Kinect,
The six degree of freedom light-type biomimetic manipulator 2 uses kinova six degree of freedom light-type biomimetic manipulator.
The space that the electric wheelchair 1 can be realized electric wheelchair mechanical arm is mobile.Being sitting in people on electric wheelchair 1 can be with
Realize that the space of electric wheelchair mechanical arm is mobile by two ways:
1, realize electric wheelchair 1 before and after space using the self-contained intelligentized handling controller of electric wheelchair 1
Left and right and turn etc. are mobile；
2, place space is positioned using the laser radar 5 carried on fore-stock 7, laser radar 5 is fixed to space
After position, location information is fed back into PC machine 10.Meanwhile user stimulates the stimulation at interface to generate in the brain by PC machine 10
After corresponding EEG signals, the meeting of electrode cap 8 is by this eeg signal acquisition and is transferred to amplifier 9, allows amplifier 9 to EEG signals
It is acquired, amplifies, filtering, analog-to-digital conversion process, transferring data to PC machine 10 and carry out signal detection to obtain movement life
It enables.PC machine 10 by after processing information and motion command send electric wheelchair 1 to, driving electric wheelchair 1 realizes space
It all around and turns round etc. mobile, to smoothly reach target position.
Six degree of freedom kinova light-type biomimetic manipulator therein has 6 freedom degrees, mainly by 1 chassis of electric wheelchair
The left side bracket 6 to extend out, which is given, to be supported.Six degree of freedom light-type biomimetic manipulator 2 is held with an end that can be clamped
Row device may be implemented the clamping to object or complete some crawl tasks.The control of six degree of freedom light-type biomimetic manipulator 2
It is completed by PC machine 10, in addition to this, PC machine 10 can also receive the first 3D body-sensing video camera 3 and collect 1 front of electric wheelchair completed
The image information of object and the 2nd 3D body-sensing video camera 4 collect the location information of the face of the people completed.PC machine 10 is being handled
After finishing these images and location information, order driving six degree of freedom light-type biomimetic manipulator 2 can be generated and complete crawl material object
And send the task of people to.
Laser radar 5 and two kinect structural schematic diagrams of the Fig. 2 for fore-stock 7 and thereon.Fore-stock 7 is by Electric Motor Wheel
1 chassis of chair extends out, and passes through the hollow steel pipe and 7 nested encryptions of fore-stock on 1 chassis of electric wheelchair；The fore-stock 7
Bottom is provided with the fixed interface connecting with electric wheelchair 1, and the middle part of the fore-stock 7 is provided with for installing fixed laser thunder
Up to 5 support construction, the top setting of the fore-stock 7 fixes 3 He of the first 3D body-sensing video camera there are two installation is respectively used to
The support platform of 2nd 3D body-sensing video camera 4.The support device, two support platforms pass through carriage and fore-stock
7 are connected.
For the placement height of laser radar 5 in the height away from ground 1m-1.1m, being arranged in the reason of this height is laser thunder
Working depth up to 5 must not be too low, needs near height herein.The present embodiment passes through the laser of placement in the top of fore-stock 7
Radar 5 determines relative position, carries out coordinate setting to the image information that the first 3D body-sensing video camera 3 obtains, laser radar 5 is just
First 3D body-sensing video camera 3 of top then completes the identification and positioning of corresponding object, the identification including road conditions；2nd 3D body-sensing
Then the identifying and positioning to user face of video camera 4, is transferred to PC machine 10 for location information.By the above feature,
Picture signal acquired in one 3D body-sensing video camera 3, the 2nd 3D body-sensing video camera 4 and laser radar 5 can feed back six degree of freedom
The corresponding vision content of executing needed for light-type biomimetic manipulator 2 for task, may be implemented intelligentized control method.
Six degree of freedom light-type biomimetic manipulator 2 structural schematic diagram of the Fig. 3 for left side bracket 6 and thereon.The left side
Side supports 6 are fixed on 1 chassis of electric wheelchair and extend from the left front on 1 chassis of electric wheelchair, while being provided with difference
Connect the mechanical interface and fixed interface of six degree of freedom light-type biomimetic manipulator 2 and electric wheelchair 1.It is taken on left side bracket 6
The six degree of freedom light-type biomimetic manipulator 2 of load can receive location information and the work of the object sent from PC machine 10
Order, and execute according to above- mentioned information that work order such as grab and mobile object is to designated place, and then the fortune of completion complexity
Dynamic task.
The above embodiments of the present invention is merely examples for clearly illustrating the present invention, and is not
Limitations of the embodiments of the present invention.For those of ordinary skill in the art, on above explained basis
On can also make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.
Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in this reality
Within novel scope of protection of the claims.
Claims (7)
1. a kind of brain control wheelchair mechanical arm characterized by comprising electric wheelchair (1), six degree of freedom light-type biomimetic manipulator
(2), the first 3D body-sensing video camera (3), the 2nd 3D body-sensing video camera (4), laser radar (5), left side bracket (6), fore-stock
(7), electrode cap (8), amplifier (9), PC machine (10), the six degree of freedom light-type biomimetic manipulator (2) are electronic by connecting
The left side bracket (6) of wheelchair (1) is fixed on the left front of electric wheelchair (1), for being held according to the location information of target object
Row crawl task, and identification and location information according to the 2nd 3D body-sensing video camera (4) to user face, target object is moved
To target position；For the PC machine (10) for showing stimulation interface, stimulation user generates corresponding EEG signals；Described
Electrode cap (8) is used to acquire the EEG signals of user, and the signal after acquisition turns by the amplification, filtering, modulus of amplifier (9)
After changing processing, then transfers data to PC machine (10) and carry out signal detection；The laser radar (5), the photography of the first 3D body-sensing
The fore-stock (7) that machine (3) and the 2nd 3D body-sensing video camera (4) pass through connection electric wheelchair (1) is being fixed on electric wheelchair (1) just
Real-time positioning and the identification and positioning of target object and user face of the front for electric wheelchair (1) position.
2. brain control wheelchair mechanical arm according to claim 1, it is characterised in that: the first 3D body-sensing video camera (3),
2nd 3D body-sensing video camera (4) is all made of Kinect.
3. brain control wheelchair mechanical arm according to claim 1, it is characterised in that: the left side bracket (6) is fixed on
Electric wheelchair (1) chassis is simultaneously extended from the left front on electric wheelchair (1) chassis, while being provided with light with six degree of freedom respectively
The mechanical interface and fixed interface of amount type biomimetic manipulator (2) and electric wheelchair (1) connection.
4. brain control wheelchair mechanical arm according to claim 1, it is characterised in that: the fore-stock (7) is fixed on electronic
Simultaneously extend in front of electric wheelchair (1) chassis on wheelchair (1) chassis；The bottom of the fore-stock (7) be provided with it is electronic
The fixed interface of wheelchair (1) connection.
5. brain control wheelchair mechanical arm according to claim 1, it is characterised in that: be provided in the middle part of the fore-stock (7)
For installing the support construction of fixed laser radar (5), the top of the fore-stock (7) is arranged at intervals with two and is respectively used to
The support platform of the first 3D body-sensing video camera (3) and the 2nd 3D body-sensing video camera (4) is fixed in installation.
6. brain control wheelchair mechanical arm according to claim 1, it is characterised in that: the first 3D body-sensing video camera (3)
Positioned at the surface of laser radar (5), the 2nd 3D body-sensing video camera (4) is located at the top of the first 3D body-sensing video camera (3)
And camera direction is opposite with the first 3D body-sensing video camera (3).
7. brain control wheelchair mechanical arm according to claim 1, it is characterised in that: the placement height of the laser radar (5)
Away from ground 1m-1.1m.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721181839.5U CN208841411U (en) | 2017-09-15 | 2017-09-15 | A kind of brain control wheelchair mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721181839.5U CN208841411U (en) | 2017-09-15 | 2017-09-15 | A kind of brain control wheelchair mechanical arm |
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| CN208841411U true CN208841411U (en) | 2019-05-10 |
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| CN201721181839.5U Active CN208841411U (en) | 2017-09-15 | 2017-09-15 | A kind of brain control wheelchair mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553491A (en) * | 2017-09-15 | 2018-01-09 | 华南理工大学 | A kind of brain control wheelchair mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553491A (en) * | 2017-09-15 | 2018-01-09 | 华南理工大学 | A kind of brain control wheelchair mechanical arm |
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