CN210872558U - Multifunctional controllable platform based on posture transformation - Google Patents

Abstract

The utility model relates to a multi-functional controllable platform based on body appearance transform through laying the bottom plate on the wheel, builds a drive platform. From principle angle analysis, the system mainly comprises six parts, namely a human body posture transformation angle signal acquisition module, an angle signal identification analysis and pretreatment module, a Kalman filtering module, an angle signal threshold division module, a stepping motor control module and a direct current motor control module. This system can gather, analysis and preliminary treatment to human gesture transform angle signal, and then will accurately output human current gesture under dynamic environment, the angle signal packing that will obtain through bluetooth wireless transmission sends for main control chip, compile corresponding procedure through the design and make the singlechip can control one (or more) drive wheel to the information of gathering, turn to, advance and stop to realize the drive wheel, and then control whole platform operation, in order to reach the purpose that helps the disability personage, the disability nursing personage realizes multiple functions such as autonomic action and independently getting the thing.

Description

A multifunctional controllable platform based on body posture transformation

technical field

Rehabilitation disability and auxiliary medical field. The utility model relates to the acquisition, analysis and processing technology of body posture transformation angle signals, in particular to a multifunctional controllable platform based on body posture transformation.

Background technique

According to the sixth national census and the second national sample survey of the disabled, the number of people with various types of disabilities was concluded as follows: 12.63 million people with visual disabilities; 20.54 million people with hearing disabilities; 1.3 million people with speech disabilities; 2,472 people with physical disabilities 5.68 million people with intellectual disabilities; 6.29 million people with mental disabilities; 13.86 million people with multiple disabilities. It can be seen that the share of the physically handicapped among the disabled is about 1/3, which has greatly stimulated the market for the handicapped rehabilitation equipment and auxiliary treatment equipment. This application is designed for the physically handicapped. It is a multi-functional controllable platform that compensates for the function of disabled parts by changing the posture.

Utility model content

Based on the fact that many handicapped auxiliary devices are mostly human-driven or fixed instruments, the problem to be solved by the present invention is to provide a multi-functional controllable platform that can be driven by electric power for travel and is suitable for a wider range of people. Two front steering wheels and two rear driving wheels are combined with a base, which is the simple peripheral device of the present invention. Then through the MPU6050 sensor to collect the change of the human body attitude angle and combined with the main controller MSP430f5529 through the corresponding data analysis and processing, the wheel steering and speed control can be realized, and then the movement of the entire platform can be controlled.

The innovation of the utility model:

(1) The utility model has powerful functions, can replace a variety of electronic products, and has more powerful application value.

If a single seat is placed on the base of the controllable platform, the utility model is transformed into an electric wheelchair.

If a double (or four-person) seat is to be placed on the base of the controllable platform, a person with disabilities who is skilled in operation can also travel with his family as a "driver", and even provide an income for the family. It is better to teach a man how to fish than to give him a fish. The utility model can help the disabled to achieve true independence and even benefit the society, and fundamentally reduce the burden on the family and society!

In addition, medical staff can also be used to retrieve objects remotely, which can better improve the efficiency of medical care!

(2) The utility model is suitable for a wider group of people and has a broader market prospect.

Taking the single seat placed on the controllable platform as an example, at this time, the utility model has become an "electric wheelchair". Due to the use of the MPU6050 sensor, this "electric wheelchair" breaks through the traditional electric wheelchair hand-crank, Button type and other restraints that require healthy hands to be used normally. People who have lost both hands can fix the sensors on the legs and feet to control the "electric wheelchair"; for people who have lost both hands and feet, they can still place the sensors on the head to realize the control of the "electric wheelchair". control etc. The crowd of the utility model is wider, and the purpose of making people who have lost both hands and feet to travel freely is achieved!

(3) The utility model adopts electric drive and wireless transmission, which overcomes the traditional manual drive and wired connection, which makes the appearance of the utility model more concise and beautiful, and the operation is more labor-saving and simple, and can realize the independent travel and retrieval of objects for the disabled. It is convenient and reliable, and can better meet the different needs of patients.

(4) Auxiliary parts worn by users are also a highlight in the innovation of the present invention.

The high-precision six-axis gyro accelerometer MPU6050 signal acquisition preprocessing module is encapsulated in a box, and it is fixed on the clap ruler wristband. The wristband chooses the wristband form that can automatically curl. The ring will be rolled up to achieve the effect of allowing the user to wear it independently, conveniently and quickly!

In summary, the utility model replaces the manual drive wheel with electric drive, and uses the traditional handle control and button control to design the sensor made of the MPU6050 chip to sense the change of the human body posture and angle, and process and analyze the data. After the processed data is divided into thresholds, the direction and rotational speed of the drive wheels can be controlled. This design solves the problems encountered by those with leg disabilities and inconvenient upper limb movements in their lives, allowing them to use other flexible parts of the body to control the wheels, and then drive the platform to complete the walking function.

In this application, these controllable wheels are independently separated into 4 separate individuals, and a solid base plate is placed on it to create a controllable platform, so that it can not only be limited to wheelchairs, but can carry various objects. It allows people with physical disabilities to travel freely, and can help medical care and disabled support personnel to achieve remote control and other purposes.

The technical scheme of the present utility model is:

A multifunctional controllable platform based on body posture transformation, characterized in that the platform comprises a six-axis gyro accelerometer signal acquisition preprocessing module, a Bluetooth module, a main controller, a motor driver, a motor module, a button and a power supply module;

The above-mentioned six-axis gyro accelerometer signal acquisition preprocessing module includes a signal acquisition module and a Bluetooth transmission module;

The above-mentioned bluetooth module is a bluetooth receiving module, which is wirelessly paired and connected with the bluetooth sending module in the six-axis gyro accelerometer signal acquisition preprocessing module;

The above motor drivers include DC motor drivers and stepper motor drivers;

The above motor module includes a DC motor module and a stepper motor module;

The above-mentioned power supply module is divided into three sub-modules, the first power supply sub-module is connected with the six-axis gyro accelerometer signal acquisition preprocessing module; the second power supply sub-module is connected with the DC motor driver; the third power supply sub-module is connected with the stepping motor driver;

The above stepper motor module and DC motor module are respectively connected with the stepper motor driver and the DC motor driver; the Bluetooth receiving module, the DC motor driver and the stepper motor driver are respectively connected with the main controller.

The main controller is MSP430 series, STM32 series single-chip microcomputer; the optional signal acquisition module is MPU6000, MPU6050 or MPU9250, and the Bluetooth module can choose HC-05, HC-06, BT08B, DX-BT18, DX-BT20, JDY -19 Bluetooth module, the power module selects the corresponding rechargeable battery or lithium battery according to the requirements of the DC motor and the stepper motor with the larger rated voltage, which can be 36V or 48V rechargeable battery or lithium battery.

The platform also includes a base and two front steering wheels and two rear drive wheels mounted on the base.

A single, double or quadruple seat is mounted on the base.

A camera is placed on the base and a robotic arm is installed.

The six-axis gyro accelerometer signal acquisition preprocessing module is worn on the leg, foot, arm, wrist or head of the human body.

A six-axis gyro accelerometer signal acquisition preprocessing module, the six-axis gyro accelerometer signal acquisition and preprocessing module is packaged in a box, and the box is fixed on a clap ruler bracelet.

When in use, the high-precision six-axis gyro accelerometer signal acquisition preprocessing module is placed on the user, and can be fixed on the upper limbs, legs, feet and other parts, and the placement position can be selected according to the user's physical condition.

The platform of the utility model uses a sensor made of a six-axis gyroscope accelerometer to sense the variation of the attitude angle of the human body, and processes and analyzes the data. The processed data is thresholded to control the steering and rotational speed of the drive wheels.

In addition, the multi-functional controllable platform based on the body posture transformation of the present invention has a simple operation mode, which can realize the independent travel of the handicapped without the need of professional accompaniment, is convenient and reliable, and can better meet the different needs of patients.

Description of drawings

1 is a system control block diagram of a first embodiment of a multifunctional controllable platform based on body posture transformation of the present invention;

Fig. 2 is a simple external three-dimensional view of the utility model of a multifunctional controllable platform based on body posture transformation, which includes 2-1 steering gear, 2-2 front steering wheel, 2-3 fuselage base, 2- 4 DC motors, 2-5 rear drive wheels;

3 is a schematic diagram of the three-dimensional structure of an auxiliary component worn by a user of an embodiment of the multifunctional controllable platform based on body posture transformation of the present invention, including 3-1 six-axis gyro accelerometer signal acquisition preprocessing module, 3-2 Tap the ruler bracelet (automatically roll up after being stressed, which is more convenient to wear).

Detailed ways

The present utility model will be described in detail below with reference to the embodiments and the accompanying drawings, but this is not intended to limit the protection scope of the present application.

The utility model is a multifunctional controllable platform based on body posture transformation, the system includes a high-precision six-axis gyro accelerometer MPU6050 signal acquisition preprocessing module (as shown in 3-1 in Figure 3), a Bluetooth module, a main controller, Motor driver (including DC motor driver and stepper motor driver), motor module (including DC motor module and stepper motor module), key and power module; among them, the Bluetooth module includes Bluetooth sending and receiving modules, Bluetooth sending module and six-axis The gyro accelerometer MPU6050 signal acquisition preprocessing module is connected, and the two are wirelessly paired with the Bluetooth sending module;

Among them, as shown in Figure 1, the signal acquisition preprocessing module of the human body attitude transformation angle is the six-axis gyro accelerometer MPU6050 signal acquisition preprocessing module, and the six-axis gyro accelerometer MPU6050 signal acquisition preprocessing module is connected with the Bluetooth sending module; the power modules are respectively It is connected with the six-axis gyro accelerometer MPU6050 signal acquisition preprocessing module, the stepper motor driver and the DC motor driver through the corresponding buttons; the Bluetooth receiving module, the stepper motor driver and the DC motor driver are respectively connected with the main controller;

The MPU6050 signal acquisition preprocessing module is divided into details including initialization module, acceleration sensor angle calculation module, quaternion calculation module, feedback, Kalman filter, quaternion to Euler angle and Euler angle to quaternion module .

The MPU6050 signal acquisition preprocessing module is placed on the user, and the placement position is selected according to the user's physical condition.

The main controller is the MSP430 series single-chip microcomputer, which is respectively connected with the Bluetooth receiving module, the stepper motor driver, and the DC motor driver, which can be fixed on the base; the Bluetooth receiving module on the main control chip is connected to the six-axis gyro accelerometer. The Bluetooth sending module in the MPU6050 signal acquisition preprocessing module is connected wirelessly, and the connection is valid within ten meters.

It should be noted that the software or protocols involved in this patent belong to well-known technologies. The specific control technology of the main control chip to control the electric wheelchair can be found in:

[1] Shan Xinying, Chen Wei, Yan Heping. Design and testing of multi-position electric wheelchair controller [J]. China Rehabilitation Theory and Practice, 2018, 24(05): 604-609.

The specific use method of the utility model is as follows: the user selects the wearing position according to his own physical condition, firstly detects the user's posture during initialization, and after repeated use, the system has a learning function and can automatically adjust the posture reference. The main control chip is placed within 10 meters of the user (it is more suitable and convenient to place it on the base), the MPU6050 sensor is used to sense the change of the human body attitude angle, and the data is processed and analyzed, and then the driving wheel (here will be The 4 wheels are collectively referred to as the driving wheels) to control the steering and rotational speed of the platform, thereby controlling the platform.

The utility model not only enables the disabled to travel alone, but also helps medical staff to carry out remote transportation (the doctor wears a collection terminal composed of a six-axis gyro accelerometer MPU6050 signal collection preprocessing module and a power supply). The platform is simple and flexible, and the signal acquisition components are more portable, low power consumption, and easy to operate, which can meet the needs of users.

Example 1

The utility model is a multifunctional controllable platform based on body posture transformation. Now a finished product model (as shown in Figure 2) is used as Embodiment 1 for detailed description. The system includes a high-precision six-axis gyro accelerometer MPU6050 signal acquisition preprocessing Module (as shown in 3-1 in Figure 3), Bluetooth module, main controller, DC motor driver (hereinafter briefly referred to as motor driver), steering gear controller (stepper motor driver), steering gear module (as shown in Figure 2 2-1 in Figure 2), a DC motor module (shown in Figure 2-4 in Figure 2, the motor module is briefly described below), a button and a power supply module; the Bluetooth module includes a Bluetooth receiving module, and a six-axis gyro accelerometer The Bluetooth sending module in the MPU6050 signal acquisition preprocessing module is wirelessly paired and connected;

Among them, as shown in Figure 1, the six-axis gyro accelerometer MPU6050 signal acquisition preprocessing module is connected to the Bluetooth sending module; the power module is connected to the six-axis gyro accelerometer MPU6050 signal acquisition preprocessing module and the steering gear controller through buttons respectively. , the motor driver is connected; the Bluetooth receiving module, the steering gear controller and the motor driver are respectively connected with the main controller;

The six-axis gyro accelerometer MPU6050 signal acquisition preprocessing module is divided into an initialization module, an acceleration sensor angle calculation module, a quaternion calculation module, feedback, Kalman filtering, quaternion to Euler angle and Euler angle. Turn the quaternion module.

The six-axis gyro accelerometer MPU6050 signal acquisition preprocessing module is placed on the user, and the placement position is selected according to the user's physical condition.

The main controller is the main control chip MSP430f5529, which is respectively connected with the Bluetooth receiving module, the steering gear controller and the motor driver, which can be fixed on the base (as shown in 2-3 in Figure 2); the main control chip The bluetooth receiving module and the bluetooth sending module in the sensor are wirelessly connected, and the connection is effective within ten meters.

The power module selects the corresponding rechargeable battery or lithium battery according to the one with the larger rated voltage of the two motors.

The power module is fixed on the base (shown as 2-3 in Figure 2).

It should be noted that the software or protocols involved in this patent belong to well-known technologies.

The specific use method of the utility model is as follows: the user selects the wearing position according to his own physical condition, firstly detects the user's posture during initialization, and after repeated use, the system has a learning function and can automatically adjust the posture reference. Place the main control chip within 10 meters of the user (it is more suitable and convenient to place it on the base), and the MPU6050 sensor is used to sense the change of the human body attitude angle, and the data is processed and analyzed, and then the driving wheel (in Figure 2). 2-2 is the steering wheel, 2-5 is the driving wheel, here the 4 wheels are collectively referred to as the driving wheel) to control the steering and rotational speed of the finished model.

The system of the utility model can not only realize that the handicapped person can travel alone, but also can help the medical staff to realize the remote transportation. The whole system is simple and flexible, and the signal acquisition components are more convenient to carry, low power consumption, easy to operate, etc., which can meet the needs of users.

The parts not mentioned in the present invention are applicable to the prior art.

Claims (7)

1. A multifunctional controllable platform based on body posture transformation is characterized by comprising a six-axis gyro accelerometer signal acquisition preprocessing module, a Bluetooth module, a main controller, a motor driver, a motor module, keys and a power module;

the six-axis gyro accelerometer signal acquisition preprocessing module comprises a signal acquisition module and a Bluetooth sending module;

the Bluetooth module is a Bluetooth receiving module and is in wireless pairing connection with a Bluetooth sending module in the six-axis gyro accelerometer signal acquisition preprocessing module;

the motor driver comprises a direct current motor driver and a stepping motor driver;

the motor module comprises a direct current motor module and a stepping motor module;

the power supply module is divided into three sub-modules, and a first power supply sub-module is connected with the six-axis gyro accelerometer signal acquisition preprocessing module; the second power supply submodule is connected with the direct current motor driver; the third power supply submodule is connected with the stepping motor driver;

the stepping motor module and the direct current motor module are respectively connected with a stepping motor driver and a direct current motor driver; the Bluetooth receiving module, the direct current motor driver and the stepping motor driver are respectively connected with the main controller.

2. The multi-functional controllable platform based on posture transformation of claim 1, characterized by: the main controller is an MSP430f5529 type single chip microcomputer; the signal acquisition module is an MPU6050, an MPU6050 or an MPU9250, and the power supply module is a storage battery.

3. The multi-functional controllable platform based on posture transformation of claim 1, characterized by: the platform also comprises a base, and two front steering wheels and two rear driving wheels which are arranged on the base.

4. The multi-functional controllable platform based on posture transformation of claim 3, characterized by: the base is provided with a single seat, a double seat or a four-seat.

5. The multi-functional controllable platform based on posture transformation of claim 3, characterized by: a camera is arranged on the base, and a mechanical arm is arranged on the base.

6. A multi-functional controllable platform based on posture transformation as claimed in any one of claims 1-5, characterized by: the six-axis gyro accelerometer signal acquisition preprocessing module is worn on legs, feet, arms, wrists or heads of a human body.

7. The multifunctional controllable platform based on body posture transformation according to claim 1, characterized in that the six-axis gyro accelerometer signal acquisition preprocessing module is packaged in a box, and the box is fixed on a clapper ruler bracelet.

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