CN109003666A - Long-range remote sensing based on motion capture is accompanied and attended to the methods, devices and systems of robot - Google Patents
Long-range remote sensing based on motion capture is accompanied and attended to the methods, devices and systems of robot Download PDFInfo
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- CN109003666A CN109003666A CN201810640662.3A CN201810640662A CN109003666A CN 109003666 A CN109003666 A CN 109003666A CN 201810640662 A CN201810640662 A CN 201810640662A CN 109003666 A CN109003666 A CN 109003666A
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
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Abstract
The long-range remote sensing based on motion capture that this application involves a kind of is accompanied and attended to the method for robot, it include: the body sizes data for being loaded into operator, virtual skeleton pattern is established, and passes through the movement of motion capture equipment capture operation person, then corresponding movement is deployed on skeleton pattern；By the dynamic sensor caught on force feedback clothes with operator, the limbs power numerical value of operator is acquired；It will be on the VR helmet and sense organ sensing equipment of the five senses device map for robot of accompanying and attending to operator's head-mount；According to the limbs power numerical value of the skeleton pattern of the movement of deployment and the operator of acquisition, the action command of the limb motion device for robot of accompanying and attending to is converted to.The application also respectively proposes that a kind of long-range remote sensing based on motion capture is accompanied and attended to the device and system of robot.Having the beneficial effect that for the application is accompanied and attended to scheme by the sufferer for providing tele-medicine, so that the high treatment of professional requirement degree can remotely be executed or operation of accompanying and attending to, reduces the medical cost accompanied and attended to.
Description
Technical field
The present invention designs remote control field.Particularly, the present invention relates to a kind of, and the long-range remote sensing based on motion capture is accompanied
Protect the methods, devices and systems of robot.
Background technique
In recent years, opposite with related medical resource nervous to the demand of accompanying and attending to of sufferer personnel due to the shortage of medical staff
Contradiction it is increasingly apparent.This is further such that " the difficulty of getting medical service " problem becomes increasingly conspicuous.How more flexible limited doctor is efficiently distributed
Treatment is accompanied and attended to resource, to utmostly improve people's medical treatment efficiency and reduce the pass that treatment cost is current medical care problem
Key.
Along with the continuous development of Internet technology, more and more sufferer personnel begin to use different mobile terminals logical
It crosses internet and carries out long-range medical activity.It, must however in order to enable this series of tele-medicine activity successfully to carry out
Must configuring, there is the entourage of corresponding technical level aside to carry out helping directive, or even execute some to more demanding
Operation (such as intravenous injection, wound cleaning and wrapping and liniment replacement etc.).This kind of professional more demanding operation
Certain domain knowledge and corresponding operation experience are generally required, with to being likely to occur in operating process itself and operating process
Various sudden accidents make accurate reply in time.Therefore, sufferer personnel itself or other ordinary person may not can
To be competent at aforesaid operations.This aspect limits the promotion and popularization of tele-medicine, on the other hand improves long-range doctor also significantly
The threshold for the treatment of.
Summary of the invention
The present invention provides the methods, devices and systems that robot is accompanied and attended in a kind of long-range remote sensing based on motion capture, improves
Existing Telemedicine obtains in the defect of aspect of accompanying and attending to and more fully provides the technology effect that service is accompanied and attended in treatment to sufferer
Fruit.
Technical solution of the present invention first aspect is that a kind of long-range remote sensing based on motion capture is accompanied and attended to the method for robot.
The above method includes: A, the body sizes data for being loaded into operator, establishes virtual skeleton pattern, and set by motion capture
Then corresponding movement is deployed on skeleton pattern by the movement of standby capture operation person；B, it is caught by dynamic with operator
Sensor on force feedback clothes, acquires the limbs power numerical value of operator；C, the five senses device map for robot of accompanying and attending to is arrived
On the VR helmet and sense organ sensing equipment of operator's head-mount；D, according to the operation of the skeleton pattern of the movement of deployment and acquisition
The limbs power numerical value of member, is converted to the action command of the limb motion device for robot of accompanying and attending to.
Further, the step A of the above method includes: the limbs that one or more operators are extracted by spatial digitizer
Joint size establishes customized subscriber data set and multiple corresponding pre-selection skeleton patterns.
Further, the step B of the above method includes: the inertial attitude for acquiring operator, records the maintenance of inertia action
Time.
Further, the step C of the above method includes: the data for acquiring the palm tactile sensor for robot of accompanying and attending to, so
It is fed back in the actuator of the gloves of operator afterwards and executes responsive movement.
Further, the step D of the above method further includes following sub-step: the limb action of capture operation person and/or face
Portion's expression, the people for being converted to robot of accompanying and attending to set the limb action data of association of characteristics, facial motion data and role's audio mixing number
According to；Configure the real-time of the limb action of operator and/or the limb action of facial expression and robot of accompanying and attending to and/or facial expression
It is synchronous.
Further, the above method is further comprising the steps of: the robot that makes to accompany and attend to remotely connect by network server to be moved
Catch force feedback clothes, motion capture equipment and the VR helmet.
Technical solution of the present invention second aspect is that a kind of long-range remote sensing based on motion capture is accompanied and attended to the device of robot.
The device includes: the first module, for being loaded into the body sizes data of operator, establishes virtual skeleton pattern, and pass through
Then corresponding movement is deployed on skeleton pattern by the movement of motion capture equipment capture operation person；Second module, for leading to
The dynamic sensor caught on force feedback clothes with operator is crossed, the limbs power numerical value of operator is acquired；Third module, being used for will
It accompanies and attends in the five senses device map to the VR helmet and sense organ sensing equipment of operator's head-mount of robot；4th mould
Block, the limbs power numerical value of the operator of skeleton pattern and acquisition for being acted according to deployment, is converted to robot of accompanying and attending to
The action command of limb motion device.
Further, the first module of above-mentioned apparatus is closed by the limbs that spatial digitizer extracts one or more operators
Section ruler cun, establishes customized subscriber data set and multiple corresponding pre-selection skeleton patterns.
Further, the inertial attitude of the second module acquisition operator of above-mentioned apparatus, when recording the maintenance of inertia action
Between.
Further, the third module of above-mentioned apparatus acquires the data of the palm tactile sensor for robot of accompanying and attending to, then
It feeds back in the actuator of the gloves of operator and executes responsive movement.
Further, the 4th module of above-mentioned apparatus further includes following submodule: capture module, for capture operation person's
Limb action and/or facial expression, the people for being converted to robot of accompanying and attending to set the limb action data of association of characteristics, face action number
According to role's audio mixing data；Configuration module, for configuring the limb action of operator and/or facial expression and accompanying and attending to robot
Limb action and/or facial expression being capable of real-time synchronizations.
Further, above-mentioned apparatus further includes the 5th module, is remotely connected for making to accompany and attend to robot by network server
It connects and catches force feedback clothes, motion capture equipment and the VR helmet.
The technical solution of the present invention third aspect is that a kind of long-range remote sensing based on motion capture is accompanied and attended to the system of robot.
Above system include the VR helmet, it is dynamic catch force feedback clothes, motion capture equipment, accompany and attend to robot and be respectively connected to the VR helmet,
The dynamic server for catching force feedback clothes, motion capture equipment and robot of accompanying and attending to.Above-mentioned server performs the steps of A, is loaded into behaviour
The body sizes data of work person establish virtual skeleton pattern, and pass through the movement of motion capture equipment capture operation person, so
Corresponding movement is deployed on skeleton pattern afterwards；B, it by the dynamic sensor caught on force feedback clothes with operator, adopts
Collect the limbs power numerical value of operator；C, by the VR helmet of the five senses device map for robot of accompanying and attending to operator's head-mount
On sense organ sensing equipment；D, it according to the limbs power numerical value of the skeleton pattern of the movement of deployment and the operator of acquisition, is converted to
Accompany and attend to robot limb motion device action command.
Further, step A performed by the server of above system includes: to extract one or more by spatial digitizer
The limbs joint size of a operator establishes customized subscriber data set and multiple corresponding pre-selection skeleton patterns.
Further, step B performed by the server of above system includes: the inertial attitude for acquiring operator, record
Inertia action is held time.
Further, step C performed by the server of above system includes: the palm sense of touch biography for acquiring robot of accompanying and attending to
Then the data of sensor are fed back in the actuator of the gloves of operator and execute responsive movement.
Further, step D performed by the server of above system further includes following sub-step: the limb of capture operation person
Body movement and/or facial expression, the people for being converted to robot of accompanying and attending to set the limb action data of association of characteristics, facial motion data
With role's audio mixing data；Configure the limb action and/or face of the limb action and/or facial expression of operator with robot of accompanying and attending to
The real-time synchronization of portion's expression.
Further, the server of above system also executes following steps: the robot that makes to accompany and attend to is remote by network server
Journey connection is dynamic to catch force feedback clothes, motion capture equipment and the VR helmet.
Further, above system customizes the humanoid inflation skin for generating robot of accompanying and attending to and face in such a way that 3D is promised
Portion's appearance.
Further, above system further includes for the wireless charging power station for robot charging of accompanying and attending to.
The invention has the benefit that being accompanied and attended to scheme by the corresponding sufferer for providing tele-medicine, so that can remotely execute
The high treatment of professional requirement degree or operation of accompanying and attending to reduce the cost that medical treatment is accompanied and attended to.
Detailed description of the invention
Fig. 1 show overview flow chart according to the method for the present invention.
Fig. 2 show the schematic diagram of the apparatus according to the invention and system.
Fig. 3 show the schematic diagram of application according to the present invention embodiment.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.
It should be noted that unless otherwise specified, when a certain feature referred to as " fixation ", " connection " are in another feature,
It can directly fix, be connected to another feature, and can also fix, be connected to another feature indirectly.In addition, this
The descriptions such as the upper and lower, left and right used in open are only the mutual alignment pass relative to each component part of the disclosure in attached drawing
For system.The "an" of used singular, " described " and "the" are also intended to including most forms in the disclosure, are removed
Non- context clearly expresses other meaning.In addition, unless otherwise defined, all technical and scientific terms used herein
It is identical as the normally understood meaning of those skilled in the art.Term used in the description is intended merely to describe herein
Specific embodiment is not intended to be limiting of the invention.Term as used herein "and/or" includes one or more relevant
The arbitrary combination of listed item.
It will be appreciated that though various elements, but this may be described using term first, second, third, etc. in the disclosure
A little elements should not necessarily be limited by these terms.These terms are only used to for same type of element being distinguished from each other out.For example, not departing from
In the case where disclosure range, first element can also be referred to as second element, and similarly, second element can also be referred to as
One element.The use of provided in this article any and all example or exemplary language (" such as ", " such as ") is intended merely to more
Illustrate the embodiment of the present invention well, and unless the context requires otherwise, otherwise the scope of the present invention will not be applied and be limited.
Referring to figs. 1 to Fig. 3.The accompany and attend to system of robot 6 of long-range remote sensing according to the present invention based on motion capture includes
The VR helmet 1 dynamic catches that force feedback takes 2, motion capture equipment 3, accompanying and attending to robot 6 and is respectively connected to that the VR helmet 1, dynamic to catch power anti-
Feedback takes the server 4 of 2, motion capture equipment 3 and robot 6 of accompanying and attending to.The system further includes for accompany and attend to what robot 6 charged
Wireless charging power station.
Generation can be customized in such a way that 3D is promised to accompany and attend to robot 6, preferably generate humanoid inflation skin and face
Appearance (such as can be customized to it is shown in Fig. 3 sprout be female master pattern, the science fiction pattern of A Fanda can also be customized to).It is making
Accompany and attend to described in work robot 6 when, such as in accordance with the following steps implement: S1, production the long-range remote sensing scapegoat machine based on motion capture
The three-dimensional model of device people, and make circuit and 3D CAD manuscript；S2, production scapegoat accompany and attend to the 3D printing shell of robot 6, beat
Skeleton is printed, associated electrical components are installed；S3, the driver and client software that robot 6 of accompanying and attending to is written, and adjusted
Examination；S4, the robot 6 that will accompany and attend to start, and connect network, and user, which remotely carries out moving, catches operation.In the outer of production augmentor
Shell carries out print job by 3D printer, and prints its skeleton and bracket, and installs mainboard, camera, sensor, humanoid
Inflate skin, skeleton, motor, power supply etc..It develops and is accompanied and attended to the hardware drive program of robot 6 based on scapegoat, and dispose scapegoat and accompany
The client software of robot 6 is protected, which can permit player and catch technology tele-manipulator by dynamic long-range, pass through
The introducing of the VR helmet 1 and sensor and stimulating electrode, the picture and sound and sense of touch that robot is seen will all be fed back to remotely
Operator or player.Operator or player are worn by the VR helmet 1, put on earphone, put on it is dynamic catch force feedback and take 2, and open
Move long-range scapegoat to accompany and attend to robot 6, and network, at this moment the every act and every move of operator or player all will operation it is long-range
Augmentor makes corresponding movement, and touch that robot is subject to and to feel that audiovisual smell will all be fed back to long-range
Operator or player.
In one embodiment, server 4 realizes step as shown in Figure 1:
A, the body sizes data of operator are loaded into, establish virtual skeleton pattern 5, and pass through motion capture equipment 3
Then corresponding movement is deployed on skeleton pattern 5 by the movement of capture operation person；
B, force feedback is caught by dynamic with operator and takes sensor on 2, acquire the limbs power numerical value of operator；
C, the VR helmet 1 and sense organ of the five senses device map for robot 6 of accompanying and attending to operator's head-mount are sensed
In equipment；
D, according to the limbs power numerical value of the skeleton pattern 5 of the movement of deployment and the operator of acquisition, machine of accompanying and attending to is converted to
The action command of the limb motion device of people 6.
Wherein, the step A further include: the limbs joint ruler of one or more operators is extracted by spatial digitizer
It is very little, establish customized subscriber data set and multiple corresponding pre-selection skeleton patterns 5.
Wherein, the step B includes: the inertial attitude for acquiring operator, records holding time for inertia action.
Wherein, the step C includes: the data for acquiring the palm tactile sensor for robot 6 of accompanying and attending to, then feedback to behaviour
Responsive movement is executed in the actuator of the gloves of work person.
Wherein, the step D includes: the limb action and/or facial expression of capture operation person, is converted to robot of accompanying and attending to
6 people sets limb action data, facial motion data and the role's audio mixing data of association of characteristics；Configure the limb action of operator
And/or facial expression and the accompany and attend to limb action of robot 6 and/or facial expression being capable of real-time synchronizations.
Preferably, can make to accompany and attend to robot 6 by network server 4 remotely connection is dynamic catches force feedback and take 2, motion capture
Equipment 3 and the VR helmet 1.The operation of local control terminal and remote control end can be remotely realized in this way.In some embodiments, such as
Shown in Fig. 2, remote control end includes remote control inflatable manipulator module.Local control terminal may include VR glasses module, meter
Calculation machine module and dynamic catch of inertia feedback take module.
It should be appreciated that embodiment of the method for the invention can be by computer hardware, the combination of hardware and software or logical
The computer instruction that is stored in non-transitory computer-readable memory is crossed to be effected or carried out.Mark can be used in the method
Quasi- programming technique-includes that the non-transitory computer-readable storage media configured with computer program is real in computer program
It is existing, wherein configured in this way storage medium operates computer in a manner of specific and is predefined --- according to being embodied
Method and attached drawing described in example.Each program can with the programming language of level process or object-oriented come realize with calculating
Machine system communication.However, if desired, the program can be realized with compilation or machine language.Under any circumstance, which can be with
The language for being compiling or explaining.In addition, the program can be run on the specific integrated circuit of programming for this purpose.
In addition, the operation of process described herein can be performed in any suitable order, unless herein in addition instruction or
Otherwise significantly with contradicted by context.Process described herein (or modification and/or combination thereof) can be held being configured with
It executes, and is can be used as jointly on the one or more processors under the control of one or more computer systems of row instruction
The code (for example, executable instruction, one or more computer program or one or more application) of execution, by hardware or its group
It closes to realize.The computer program includes the multiple instruction that can be performed by one or more processors.
Further, the method can be realized in being operably coupled to suitable any kind of computing platform, wrap
Include but be not limited to PC, mini-computer, main frame, work station, network or distributed computing environment, individual or integrated
Computer platform or communicated with charged particle tool or other imaging devices etc..Each aspect of the present invention can be to deposit
The machine readable code on non-transitory storage medium or equipment is stored up to realize no matter be moveable or be integrated to calculating
Platform, such as hard disk, optical reading and/or write-in storage medium, RAM, ROM, so that it can be read by programmable calculator, when
Storage medium or equipment can be used for configuration and operation computer to execute process described herein when being read by computer.This
Outside, machine readable code, or part thereof can be transmitted by wired or wireless network.When such media include combining microprocessor
Or other data processors realize steps described above instruction or program when, invention as described herein including these and other not
The non-transitory computer-readable storage media of same type.When methods and techniques according to the present invention programming, the present invention
It further include computer itself.
Computer program can be applied to input data to execute function as described herein, to convert input data with life
At storing to the output data of nonvolatile memory.Output information can also be applied to one or more output equipments as shown
Device.In the preferred embodiment of the invention, the data of conversion indicate physics and tangible object, including the object generated on display
Reason and the particular visual of physical objects are described.
The above, only presently preferred embodiments of the present invention, the invention is not limited to above embodiment, as long as
It reaches technical effect of the invention with identical means, all within the spirits and principles of the present invention, any modification for being made,
Equivalent replacement, improvement etc., should be included within the scope of the present invention.Its technical solution within the scope of the present invention
And/or embodiment can have a variety of different modifications and variations.
Claims (10)
- A kind of method of robot (6) 1. long-range remote sensing based on motion capture is accompanied and attended to, which is characterized in that the method includes with Lower step:A, the body sizes data of operator are loaded into, are established virtual skeleton pattern (5), and pass through motion capture equipment (3) Then corresponding movement is deployed on skeleton pattern (5) by the movement of capture operation person；B, by the dynamic sensor caught on force feedback clothes (2) with operator, the limbs power numerical value of operator is acquired；C, will accompany and attend to robot (6) five senses device map to operator's head-mount the VR helmet (1) and sense organ sense In equipment；D, according to the limbs power numerical value of the skeleton pattern (5) of the movement of deployment and the operator of acquisition, robot of accompanying and attending to is converted to (6) action command of limb motion device.
- 2. the method according to claim 1, wherein the step A includes:The limbs joint size that one or more operators are extracted by spatial digitizer, establish customized subscriber data set and Multiple corresponding pre-selection skeleton patterns (5).
- 3. the method according to claim 1, wherein the step B includes:The inertial attitude for acquiring operator, records holding time for inertia action.
- 4. the method according to claim 1, wherein the step C includes:Acquisition accompany and attend to robot (6) palm tactile sensor data, in the actuator for then feeding back the gloves of operator Execute responsive movement.
- 5. the method according to claim 1, wherein the step D includes:The limb action and/or facial expression of capture operation person, the people for being converted to robot of accompanying and attending to (6) set the limbs of association of characteristics Action data, facial motion data and role's audio mixing data；Configure the limb action of operator and/or the limb action and/or facial expression of facial expression and the robot (6) of accompanying and attending to Real-time synchronization.
- 6. the method according to claim 1, wherein further include:Make to accompany and attend to robot (6) by network server (4) remotely connection it is dynamic catch force feedback clothes (2), motion capture equipment (3) and The VR helmet (1).
- The device of robot (6) 7. a kind of long-range remote sensing based on motion capture is accompanied and attended to, characterized by comprising:First module establishes virtual skeleton pattern (5), and pass through movement for being loaded into the body sizes data of operator The movement of equipment (3) capture operation person is captured, then corresponding movement is deployed on skeleton pattern (5)；Second module, for acquiring the limbs of operator by the dynamic sensor caught on force feedback clothes (2) with operator Power numerical value；Third module, for the robot (6) that will accompany and attend to five senses device map to operator's head-mount the VR helmet (1) On sense organ sensing equipment；4th module, for being converted to according to the skeleton pattern (5) of the movement of deployment and the limbs power numerical value of the operator acquired Accompany and attend to robot (6) limb motion device action command.
- The system of robot (6) 8. a kind of long-range remote sensing based on motion capture is accompanied and attended to, which is characterized in that the system comprises VR The helmet (1), it is dynamic catch force feedback clothes (2), motion capture equipment (3), robot of accompanying and attending to (6) and be respectively connected to the VR helmet (1), The dynamic server (4) for catching force feedback clothes (2), motion capture equipment (3) and robot of accompanying and attending to (6), server (4) realization with Lower step:A, the body sizes data of operator are loaded into, are established virtual skeleton pattern (5), and pass through motion capture equipment (3) Then corresponding movement is deployed on skeleton pattern (5) by the movement of capture operation person；B, by the dynamic sensor caught on force feedback clothes (2) with operator, the limbs power numerical value of operator is acquired；C, will accompany and attend to robot (6) five senses device map to operator's head-mount the VR helmet (1) and sense organ sense In equipment；D, according to the limbs power numerical value of the skeleton pattern (5) of the movement of deployment and the operator of acquisition, robot of accompanying and attending to is converted to (6) action command of limb motion device.
- The system of robot (6) 9. the long-range remote sensing according to claim 8 based on motion capture is accompanied and attended to, feature exist In customizing generation in such a way that 3D is promised and accompany and attend to the humanoid inflation skin and facial appearance of robot (6).
- The system of robot (6) 10. the long-range remote sensing according to claim 8 based on motion capture is accompanied and attended to, feature exist In, further include for for accompany and attend to robot (6) charging wireless charging power station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810640662.3A CN109003666A (en) | 2018-06-21 | 2018-06-21 | Long-range remote sensing based on motion capture is accompanied and attended to the methods, devices and systems of robot |
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| CN201810640662.3A CN109003666A (en) | 2018-06-21 | 2018-06-21 | Long-range remote sensing based on motion capture is accompanied and attended to the methods, devices and systems of robot |
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| CN107283386A (en) * | 2017-05-27 | 2017-10-24 | 江苏物联网研究发展中心 | Man-machine synchronous method |
| CN107639620A (en) * | 2017-09-29 | 2018-01-30 | 西安交通大学 | A kind of control method of robot, body feeling interaction device and robot |
| US20180099412A1 (en) * | 2012-05-22 | 2018-04-12 | Irobot Corporation | Social behavior rules for a medical telepresence robot |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20060178559A1 (en) * | 1998-11-20 | 2006-08-10 | Intuitive Surgical Inc. | Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures |
| US20180099412A1 (en) * | 2012-05-22 | 2018-04-12 | Irobot Corporation | Social behavior rules for a medical telepresence robot |
| CN107283386A (en) * | 2017-05-27 | 2017-10-24 | 江苏物联网研究发展中心 | Man-machine synchronous method |
| CN107639620A (en) * | 2017-09-29 | 2018-01-30 | 西安交通大学 | A kind of control method of robot, body feeling interaction device and robot |
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