CN114083544B - Method and device for controlling movement of hand-shaped equipment, hand-shaped equipment and storage medium - Google Patents
Method and device for controlling movement of hand-shaped equipment, hand-shaped equipment and storage medium Download PDFInfo
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- CN114083544B CN114083544B CN202210069529.3A CN202210069529A CN114083544B CN 114083544 B CN114083544 B CN 114083544B CN 202210069529 A CN202210069529 A CN 202210069529A CN 114083544 B CN114083544 B CN 114083544B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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Abstract
The invention provides a method and a device for controlling the movement of a hand-shaped device, the hand-shaped device and a storage medium, comprising the following steps: acquiring finger motion track data and action configuration information on the resistance type logic switch device; determining a target behavior algorithm from a preset behavior algorithm library according to the action configuration information; wherein, a plurality of behavior algorithms are maintained in the behavior algorithm library; each behavior algorithm realizes different hand motions; different action configuration information corresponds to different behavior algorithms; and finally, controlling the execution device to execute the hand action corresponding to the finger motion track data according to the finger motion track data and the target behavior algorithm. The action algorithms corresponding to different action configuration information are different, so that different hand actions can be converted by the hand-shaped equipment aiming at the same finger motion track data, and the problems that the existing hand-shaped toy is single in playing method and cannot meet the requirements of users are solved.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a method and a device for controlling the motion of hand-shaped equipment, the hand-shaped equipment and a storage medium.
Background
With the development and progress of science and technology, gesture-controlled intelligent equipment is produced, for example, a hand-shaped toy, commonly called a toy hand, exists in the prior art, the toy can control the toy hand to perform corresponding actions according to the obtained hand actions, the operation is flexible, and the interactivity between the toy hand and a user is increased.
However, the smart devices described above only have a single control logic, for example, for the same gesture, the device can only imitate the same gesture, or only change one gesture, and in summary, the existing control manner is single, so that the smart device can imitate or change less actions, and the interest and interactivity have become increasingly unsatisfactory for users.
Disclosure of Invention
An object of the present invention is to provide a method, an apparatus, a hand-shaped device and a storage medium for controlling motion of the hand-shaped device, which can solve the above technical problems, and embodiments of the present invention can be implemented as follows:
in a first aspect, the present invention provides a method of controlling movement of a hand-shaped apparatus, the method comprising: acquiring finger motion track data and action configuration information on the hand-shaped equipment; determining a target behavior algorithm from a preset behavior algorithm library according to the action configuration information; wherein, a plurality of behavior algorithms are maintained in the behavior algorithm library; each behavior algorithm realizes different hand motions; and controlling the hand-shaped equipment to execute hand actions corresponding to the finger motion trajectory data according to the finger motion trajectory data and the target behavior algorithm.
In the technical scheme, a plurality of behavior algorithms are maintained in a preset behavior algorithm library, each behavior algorithm realizes different hand motions, and after finger motion track data and motion configuration information on the hand-shaped equipment are collected, the corresponding target behavior algorithm can be called from the behavior algorithm library to output the corresponding hand motions, so that a plurality of playing methods of the hand-shaped equipment are expanded, and the user requirements can be met.
In an optional embodiment, determining a target behavior algorithm from a preset behavior algorithm library according to the action configuration information includes: acquiring identification information of a plurality of resistors on the hand-shaped equipment; wherein the resistor is located in a slot of a hand-shaped device; determining a logic sequence corresponding to the plurality of resistors and an index number corresponding to the logic sequence according to the combination sequence of the identification information of the plurality of resistors; and determining the target behavior algorithm from the behavior algorithm library according to the index number.
According to the technical scheme, the effect of switching the target behavior algorithm can be achieved by placing the resistor in the slot on the hand-shaped device, so that different hand motions can be output according to the same finger motion track data, the operation is simple, the playing method is various, and the use experience of a user can be enhanced.
In an alternative embodiment, the method further comprises: responding to the replacement operation of the resistor on any at least one slot, and acquiring the identification information of the replaced resistor; updating the index number according to the combination sequence of the replaced identification information of the resistor; determining a first behavior algorithm from the behavior algorithm library based on the updated index number; wherein the hand motion corresponding to the first behavior algorithm is different from the hand motion corresponding to the target behavior algorithm; and controlling the hand-shaped equipment to execute hand motions corresponding to the finger motion trajectory data according to the first behavior algorithm.
According to the technical scheme, the hand motions corresponding to the same finger motion trajectory data can be updated by updating the motion configuration information, so that the effects of multiple playing methods are achieved.
In an alternative embodiment, the method further comprises: and controlling the hand-shaped equipment to start a light mode and/or a sound mode in the process of controlling the hand-shaped equipment to move corresponding to the finger motion track data according to the finger motion track data and the target behavior algorithm.
According to the technical scheme, when the hand-shaped equipment is controlled to execute corresponding hand actions, light and/or sound effects can be added, use pleasure and atmosphere can be added, and use viscosity of a user is enhanced.
In an optional embodiment, executing a gesture action corresponding to the finger motion trajectory data according to the finger motion trajectory data and the target behavior algorithm includes: if the target behavior algorithm corresponds to a game mode, acquiring a win rate value corresponding to the game mode; and controlling the hand-shaped equipment to execute target hand motion according to the win rate value, so that the target hand motion and the finger motion track data meet the win rate value.
The technical scheme can increase the game interaction experience of the user and the hand-shaped equipment and can meet the game requirements of the user.
In an alternative embodiment, the acquiring of the finger motion trajectory data comprises: acquiring the extensional-flexural proportion value of each finger acquired by the finger gesture acquisition device; determining the posture of each finger according to the extensor-flexion proportion value of each finger; determining the finger motion trajectory data based on the gestures of the respective fingers and predefined gesture definition data.
According to the technical scheme, the finger motion track data can be accurately obtained, and a reference basis is provided for subsequent accurate output of the hand motion corresponding to the finger motion track data.
In an optional embodiment, determining a logic sequence corresponding to the plurality of resistors and an index number corresponding to the logic sequence according to a combination sequence of the identification information of the plurality of resistors includes: determining a combination sequence of the identification information corresponding to the plurality of resistors according to the serial number of the slot corresponding to each resistor; determining logic sequences corresponding to the plurality of resistors according to the respective identification information of the plurality of resistors, the combination sequence of all the identification information and the preset sequence table; and decoding the logic sequence to obtain the index number.
According to the technical scheme, the effect of determining the target behavior algorithm can be achieved by placing the resistor in the slot on the hand-shaped device, the operation is simple, the operation is easy, and the use threshold of a user is reduced.
In a second aspect, the present invention provides an apparatus for controlling the movement of a hand-shaped device, comprising: the acquisition module is used for acquiring the finger motion track data and the action configuration information on the hand-shaped equipment; the determining module is used for determining a target behavior algorithm from a preset behavior algorithm library according to the action configuration information; wherein, a plurality of behavior algorithms are maintained in the behavior algorithm library; each behavior algorithm realizes different hand motions; different action configuration information corresponds to different behavior algorithms; and the control module is used for controlling the hand-shaped equipment to execute hand actions corresponding to the finger motion track data according to the finger motion track data and the target behavior algorithm.
In a third aspect, the present invention provides a hand-shaped device comprising control means, resistive logic switching means and actuating means; the control device is electrically connected with the execution device and the resistance type logic switch device respectively; the control device is used for acquiring finger motion track data and action configuration information on the resistance type logic switch device; the control device is also used for determining a target behavior algorithm from a preset behavior algorithm library according to the action configuration information; wherein, a plurality of behavior algorithms are maintained in the behavior algorithm library; each behavior algorithm realizes different hand motions; the control device is further configured to control the execution device to execute a hand motion corresponding to the finger motion trajectory data according to the finger motion trajectory data and the target behavior algorithm.
In a fourth aspect, the present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the method according to the first aspect.
The invention provides a method and a device for controlling the motion of hand-shaped equipment, the hand-shaped equipment and a storage medium, firstly, acquiring the motion track data of fingers and the motion configuration information on a resistance-type logic switch device; secondly, determining a target behavior algorithm from a preset behavior algorithm library according to the action configuration information; wherein, a plurality of behavior algorithms are maintained in the behavior algorithm library; each behavior algorithm realizes different hand motions; and finally, controlling the execution device to execute the hand action corresponding to the finger motion track data according to the finger motion track data and the target behavior algorithm. Compared with the prior art, the invention is preset with a behavior algorithm library, can determine a target behavior algorithm according to the obtained action configuration information, and controls the hand-shaped equipment to make corresponding hand actions by using the target behavior algorithm, that is, the behavior algorithms corresponding to different action configuration information are different, so that the hand-shaped equipment can simultaneously have a plurality of control logics, and can transform different gesture actions according to the hand actions, such as: the finger-guessing device can simulate and restore various actions of hands of people, grab articles with certain weight and the like, and can guess a fist with people, and a fist-guessing playing method can have any one of the following modes and combinations: the device has the advantages of being multiple in playing methods, having certain intelligence-benefiting effect, achieving wonderful interaction between people and hand-shaped equipment and solving the problem that the existing hand-shaped equipment is single in playing method.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a functional block diagram of a hand apparatus according to an embodiment of the present invention;
FIG. 2 is an exploded view of a hand-shaped device according to an embodiment of the present invention;
FIG. 3 is a functional block diagram of another hand apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart diagram of a method of controlling movement of a hand apparatus in accordance with an embodiment of the present invention;
FIG. 5 is a schematic flow chart of step S402 in FIG. 4 according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart diagram of another method for controlling movement of a hand-shaped device in accordance with embodiments of the present invention;
fig. 7 is a functional block diagram of an apparatus for controlling the movement of a hand-shaped device according to an embodiment of the present invention.
Drawing notes: 110-a control device; 120-resistive logic switching devices; 130-an execution device; 140-a base; 150-a handle; 160-resistance; 170-palm of the hand; 121-slot; 301-an obtaining module; 302-a determination module; 303-control module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
In order to solve the technical problems, please refer to fig. 1, wherein fig. 1 is a functional block diagram of a hand-shaped device according to an embodiment of the present invention, wherein the hand-shaped device includes a control device 110, a resistive logic switch device 120, and an execution device 130; the control device 110 is electrically connected to the actuator 130 and the resistive logic switching device 120, respectively.
The control device 110 is used for acquiring the finger motion trajectory data and the motion configuration information on the resistive logic switch device 120.
The control device 110 is further configured to determine a target behavior algorithm from a preset behavior algorithm library according to the action configuration information; wherein, a plurality of behavior algorithms are maintained in the behavior algorithm library; each behavior algorithm realizes different hand motions; different action configuration information corresponds to different behavior algorithms.
The control device 110 is further configured to control the execution device 130 to execute the hand motion corresponding to the finger motion trajectory data according to the finger motion trajectory data and the target behavior algorithm.
According to the hand-shaped equipment provided by the embodiment of the invention, firstly, finger motion track data and action configuration information on a resistance-type logic switch device are acquired through a control device; secondly, determining a target behavior algorithm from a preset behavior algorithm library through the control device according to the action configuration information; wherein, a plurality of behavior algorithms are maintained in the behavior algorithm library; each behavior algorithm realizes different hand motions; and finally, controlling the execution device to execute the hand action corresponding to the finger motion track data through the control device according to the finger motion track data and the target behavior algorithm. Compared with the prior art, the method has the advantages that the behavior algorithm library is preset, the target behavior algorithm can be determined according to the obtained motion configuration information, the target behavior algorithm is utilized to control the hand-shaped equipment to make corresponding hand motions, namely, the behavior algorithms corresponding to different motion configuration information are different, so that the hand-shaped equipment can change different hand motions aiming at the same finger motion track data, and the problems that the existing hand-shaped toy is single in playing method and cannot meet the requirements of users are solved.
The hand-shaped device in the exemplary embodiment of the present invention and the control means 110, the resistive logic switching means 120 and the actuator means 130 comprised by the hand-shaped device will be explained below.
The control device 110 in the embodiment of the present invention is used to obtain the finger motion trajectory data and the motion configuration information on the resistive logic switch device 120.
It is understood that the control device 110 may be in communication connection with the finger gesture collecting device to convert the finger gesture data collected by the finger gesture collecting device into the finger motion trajectory data, or the control device 110 may also directly obtain the finger motion trajectory data converted by the gesture collecting device or other devices with data processing capability.
It should be noted that the finger gesture collecting device referred to in the above may include, but is not limited to, a glove or other intelligent wearable device with a function of collecting finger gesture data.
When the finger gesture collecting device in the embodiment of the invention is a glove, the structure can be correspondingly designed, namely, the corresponding relation exists between the finger joint motion and the output voltage value of the glove. When the glove is initialized when being started, the output range of the output voltage of the glove can be calibrated according to the voltage values of the fingers which are fully extended and fully contracted, and further the finger extension and flexion ratio value can be obtained according to the output voltage and provided for the control device 110.
Based on this, after the control device 110 obtains the finger flexion and extension ratio value, the finger motion trajectory data can be obtained through, but not limited to, a spatial posture forward solution algorithm.
For example, the manner of obtaining the finger motion trajectory data may be: and (5) converting the finger postures according to the obtained finger stretching and bending proportion values, and identifying the gesture meaning expressed by the overall posture of the five fingers.
In the embodiment of the present invention, the control device 110 may maintain in advance the corresponding relationship between various gesture meanings and various overall gestures of the finger, for example, the gesture meanings may include but are not limited to: the indication 1-10, the indication "stone scissors cloth", the indication "ok", and the like, according to the corresponding relationship, the meaning of the gesture currently made by the user can be determined, and further, a basis is provided for the subsequent control execution device 130, that is, the corresponding gesture is made by the fingers of the hand-shaped device.
Before acquiring the finger motion trajectory data, in order to ensure the accuracy of the acquired data and the accuracy of the gesture output by the hand-shaped device, the data acquired from the finger gesture acquisition device needs to be cleaned and filtered to remove noise data and invalid data, specifically, the data can be cleaned and filtered through kalman filtering and smoothing filtering, and then the finger motion trajectory data is acquired through the existing spatial gesture forward solution algorithm on the cleaned and filtered data.
In this embodiment of the present invention, the control device 110 further needs to obtain the motion configuration information on the resistive logic switch device 120 to determine the target behavior algorithm, and for convenience of understanding, the resistive logic switch device 120 in this embodiment of the present invention is described below.
The resistive logic switch device 120 in the embodiment of the present invention is connected to the control device 110 by a wired manner, and the resistive logic switch device 120 has a plurality of slots, and different resistors can be placed in each slot. The user can be according to actual demand, constantly change the resistance on every slot, can impel hand-shaped equipment to make different actions to user's same kind of gesture, has realized the effect of many plays.
For convenience of understanding, referring to fig. 2, fig. 2 is an exploded view of a hand-shaped device according to an embodiment of the present invention, where the hand-shaped device may include a base 140, a handle 150, a palm 170, and an executing device 130, where the resistive logic switch device 120 is located on a back of a hand, the resistive logic switch device 120 includes a plurality of slots 121, each slot 121 may have a resistor 160 inserted therein, and when the control device 110 recognizes configuration information corresponding to the resistor 160 in each slot 121, the executing device 130 may be controlled to perform corresponding actions according to the configuration information, which is determined and invoked by a target behavior algorithm.
It should be noted that the hand-shaped device shown in fig. 2 is only an example, and is not limited to the size and shape, and the slot 121 and the position, size and shape of the slot 121 included therein may be designed by a user according to actual needs, and is not limited herein.
In the embodiment of the present invention, the color and the shape of the resistor 160 may be designed according to actual requirements, in order to enhance the use interest of the user and improve the use experience of the user, the resistor may be designed in the form of a jewel, a hero card, a marble, etc., but not limited thereto, so as to achieve the experience and the collection interest of the user in the process of playing the hand-shaped device.
In order to enrich the output action of the hand-shaped device, each resistor 160 may have a different color, and resistors 160 of the same color may be classified into the same category, for example, resistors 160 that distinguish 5 categories of gem shapes with 5 colors of red, orange, yellow, green, and blue, and for any one category of resistors 160, different sub-categories may be designed, for example, 5 categories of resistors 160 of A, B, C, D, E may be designed according to the embodiment of the present invention, and for each category of resistors 160, in the case of a category, a may also be designed1To anThese subclasses of resistors 160 thus extend the gestures that a hand-shaped device can transform, giving the user a rich play experience.
In a possible implementation manner, in order to obtain the action configuration information, each resistor 160 has unique identification information, and when the resistor 160 is placed in the slot 121, the control device 110 can read the identification information of the resistor 160 in the slot 121, that is, the action configuration information obtained by the control device 110 in the embodiment of the present invention, is the identification information of each resistor 160 in the slot 121.
For example, assume that there are 5 slots 121 on the resistive logic switch device 120, which are numbered 1-5, and a user has 5 resistors 160, and for convenience of description, it is assumed that the identification information of the 5 resistors 160 is A, B, C, D, E. In one scenario, A, B, C, D, E may be placed in slots 121 of 1-5, and in another scenario, E, B, A, D, C may be placed in slots 121 of 1-5, respectively, in which the corresponding target behavior algorithm is different and the final output hand motion is different.
For another example, assume that A, B, C, D, E represents a large class of resistors 160, and each large class of resistors 160 also has a sub-class of resistors, and for class A, there can also be a1To anEqual-class resistors, in one scenario, in slots 121 of 1-5, a is placed1、b1、c1、d1、e1In another scenario, in slots 121 of 1-5, b is placed respectively3、d6、a1、e9、a3In these two scenarios, the corresponding target behavior algorithms are different, and the hand motion to be finally output is also different.
After the resistors 160 are all placed in the plurality of slots 121, the control device 110 may determine a target behavior algorithm from a preset behavior algorithm library according to the read identification information, and then use the finger motion trajectory data as an input of the target behavior algorithm to control the execution device 130 to execute a hand motion corresponding to the finger motion trajectory data. It is understood that the hand motion may be the same as, opposite to, etc. the gesture corresponding to the finger motion trajectory data, and various implementations are described in detail below.
As can be seen from the above, the control device 110 maintains a behavior algorithm library in advance, and a plurality of behavior algorithms are maintained in the behavior algorithm library; each behavior algorithm implements a different hand motion, e.g., a stone scissors cloth algorithm, a following algorithm, a reverse operation algorithm, a playback algorithm, and so forth.
For example, assuming the current hand motion as "thumb, ring and little fingers are bent, index and middle fingers are straight", the meaning of the hand motion may be 2, or may be scissors, the hand-shaped device may output different hand motions according to different target behavior algorithms:
1. when the following algorithm is called, the hand motion output by the hand-shaped device is 'thumb, ring finger and little finger bending, and index finger and middle finger straightening'.
2. When the called algorithm is a reverse operation algorithm, the hand motion output by the hand-shaped device is used as 'the thumb, ring finger and little finger are straightened, and the index finger and middle finger are bent'.
3. When the stone scissors cloth algorithm is called, the hand-shaped equipment can output any hand motion of 'stone', 'scissors' and 'cloth', which is related to the win rate value, the single-field random win rate or the accumulated random win rate defined by the current stone scissors cloth algorithm.
4. When the scaling algorithm is invoked, the gesture output by the hand-shaped device means a 3 or 1 gesture motion.
As another example, the user continues to stroke numbers 1-10 with a finger, and the hand-shaped device may continue to stroke from 1 to 10 when the playback algorithm is invoked, or there may be a behavioral algorithm that causes the hand-shaped device to stroke from 10 to 1.
The above-described embodiment is merely an example, and is not a limitation on the functions that can be implemented by the hand-shaped device in the embodiments of the present invention. It can be seen that, in the embodiment of the present invention, by changing the insertion sequence of the resistors 160 or the types of the resistors 160, the effect of making different gestures for the same gesture made by the user can be achieved, the functions of the hand-shaped device are improved, the playing methods of the hand-shaped device are enriched, and the use viscosity of the user can be enhanced.
In one possible embodiment, to implement the function of determining the target behavior algorithm from the motion profile information, the control device 110 is configured to obtain identification information of the plurality of resistors 160 on the hand-shaped device; wherein the resistor 160 is located in the slot 121 of the hand device; determining a logic sequence corresponding to the plurality of resistors 160 and an index number corresponding to the logic sequence according to the combination sequence of the identification information of the plurality of resistors 160; and determining a target behavior algorithm from the behavior algorithm library according to the index number.
In the embodiment of the present invention, after the plurality of resistors 160 are placed in the slots 121 of the resistor 160 type logic switch device 120 in different orders, the control device 110 can identify the logic sequences corresponding to the plurality of resistors 160, the data meanings of different positions of the logic sequences are predefined in the embodiment of the present invention, and a target behavior algorithm is finally associated by identifying the identification information of different positions.
Specifically, the control device 110 is configured to determine a combination order of the identification information corresponding to the plurality of resistors 160 according to the serial number of the slot 121 corresponding to each resistor 160; determining logic sequences corresponding to the plurality of resistors 160 according to the combination sequence and the preset sequence table; and decoding the logic sequence to obtain the index number.
In one possible implementation, the control device 110 may determine the placing sequence according to the serial number of the slot 121 corresponding to each resistor 160, or may also identify the time sequence of the resistors 160 being placed in the slot 121, and determine the placing sequence, in this scenario, each resistor 160 should not be placed in the slot 121 at the same time.
As can be seen from the above, in order to determine the index number corresponding to the target behavior algorithm, a preset sequence table is maintained in the control device 110, and the preset sequence table is used to maintain the corresponding relationship between the identification information of the resistors 160 and the logic value, and is searched in the preset sequence table, so that the logic value corresponding to each resistor 160 can be obtained, and then a logic sequence can be obtained by combining the combination sequence and decoded, so that an index number can be obtained, and a target behavior algorithm can be determined from the preset behavior algorithm library through the index number.
For example, for simplicity, it is assumed that there are 5 pieces of identification information of the resistors 160, respectively A, B, C, D, E, the combination order is ABCDE, and the logical values 010, 110, 100, 001, and 101 corresponding to each resistor 160 are obtained through the sequence table, so that a logical sequence 010110100001101 can be obtained, and the logical sequence can be decoded to obtain an index.
In a possible embodiment, on the premise that none of the resistors 160 in the slots 121 is replaced, the target behavior algorithm called by the control device 110 is not changed, and as long as the sequence of the resistors 160 or the current resistors 160 in any one of the slots 121 is replaced, the target behavior algorithm called by the control device 110 is changed accordingly, so as to output different hand motions.
Optionally, the control device 110 is further configured to, in response to a replacement operation for the resistor 160 on any at least one slot 121, obtain identification information of the replaced resistor 160; updating the index number according to the combined sequence of the replaced identification information of the resistor 160; determining a first behavior algorithm from a behavior algorithm library based on the updated index number; wherein the hand motion corresponding to the first behavior algorithm is different from the hand motion corresponding to the target behavior algorithm; and controlling the hand-shaped equipment to execute hand motions corresponding to the finger motion trajectory data according to the first behavior algorithm.
For example, assuming that the 5 slots 121 of the resistor 160 type logic switch device 120 are respectively A, B, C, D, E in sequence, the identified target behavior algorithm may be a stone-scissors algorithm; in one scenario, assuming resistor 160A is replaced with F and the updated combination order is FBCDE, the identified target behavior algorithm may be a follow-up algorithm; in another scenario, assuming that the combined order ABCDE in 5 slots 121 is replaced with BACDE, the identified target behavior algorithm may be a reverse operation algorithm.
It can be seen from the above embodiments that by changing the insertion sequence of the resistors 160 or the type of the resistors 160, the effect of making different gestures for the same gesture made by the user can be achieved, the function of the hand-shaped device is improved, the playing method of the hand-shaped device is enriched, and the use viscosity of the user can be enhanced.
In order to ensure the accuracy of the obtained motion configuration information and the accuracy of the subsequent gesture motion, the control device 110 may further process the motion configuration information through sliding window filtering and smoothing filtering to remove noise data after obtaining the motion configuration information.
Optionally, if the target behavior algorithm corresponds to the game mode, the embodiment of the present invention may further output different hand motions according to different win values or other game constraints, so as to enrich the game experience of the user.
Specifically, the control device 110 is further configured to obtain a win rate value corresponding to the game mode; and controlling the hand-shaped equipment to execute the target hand motion according to the win rate value so that the target hand motion and the finger motion track data meet the win rate value.
Assuming that the currently called target behavior algorithm is a stone cloth clipper algorithm, the control device 110 may determine, according to the obtained finger motion trajectory data, whether the user has a trend of changing the posture to any one of the stone cloth clippers, or whether the current gesture of the user is any one of the postures of the stone cloth clipper, and may further combine with constraint conditions in the stone cloth clipper algorithm, where the constraint conditions include but are not limited to: such as a winning value, a single-field random winning rate, an accumulated random winning rate, etc., the control execution device 130 is changed to a corresponding gesture to obtain a corresponding competition result:
1. the constraint condition is that the win rate value of the hand-shaped device is one hundred percent, then, if the gesture of the user is scissors, the gesture output by the hand-shaped device is a stone, and if the gesture of the user is a stone, the gesture output by the hand-shaped device is cloth, and so on.
2. The constraint condition is that the win ratio of the hand-shaped device is zero, then, assuming that the gesture of the user is scissors, the gesture output by the hand-shaped device is cloth, assuming that the gesture of the user is stone, the gesture output by the hand-shaped device is scissors, and so on.
3. The constraint condition is that the hand-shaped device is tied to the user, then, assuming that the gesture of the user is scissors, the gesture output by the hand-shaped device is also scissors, assuming that the gesture of the user is a stone, the gesture output by the hand-shaped device is a stone, and so on.
For another example, assuming that the constraint is that the accumulated win ratio is a certain value, the hand-shaped device may determine which win, which lose, and which tie according to the win ratio value, so that the accumulated win ratio reaches the value during the interaction between the hand-shaped device and the user.
It can be understood from the foregoing description of the resistor 160 that, since there may be a great number of different resistors 160 in the embodiment of the present invention, a hand-shaped device that can achieve the above-mentioned different functions can be obtained by replacing the resistor 160 on the resistive logic switch device 120, and the operation is simple and enjoyable.
Optionally, in order to add fun and ambience to the user, the hand-shaped device in the embodiment of the present invention may further have a lamp and/or a sound, if parameters such as a flashing frequency of the lamp, a light intensity, and the like defined in a certain behavior algorithm, and/or audio data and the like are customized, the control device 110 further controls the hand-shaped device to start a light mode and/or a sound mode during the process of controlling the hand motion of the hand-shaped device corresponding to the finger motion trajectory data according to the finger motion trajectory data and the target behavior algorithm, so as to enrich the fun and ambience of using the device, and enhance the use stickiness of the user.
Based on this, referring to fig. 3, fig. 3 is a functional block diagram of another hand-shaped device provided in the embodiment of the present invention, and on the basis of fig. 3, the working principle of the hand-shaped device provided in the embodiment of the present invention may be as follows:
the finger gesture collecting device can collect data of the current gesture of the user to obtain gesture data, and then transmits the collected gesture data to the wireless receiving module of the control device 110 of the hand-shaped device in a wireless transmission mode.
After the control device 110 obtains the gesture attitude data, the obtained gesture attitude data is processed through kalman filtering and smoothing filtering, so as to remove noise data and ensure the accuracy of subsequent hand movements; further, the filtered gesture data are resolved through gestures to obtain finger motion track data; meanwhile, the control device 110 may also synchronously obtain the action configuration information on the resistor 160 type logic switch device 120 through ADC sampling, that is, the identification information of each resistor 160, and similarly, in order to ensure the accuracy of subsequent processing, the data obtained through sampling is filtered and smoothed through a sliding window, and then searched in a preset sequence table based on the filtered configuration information, so as to determine the logic sequence corresponding to each resistor 160, and then the index number corresponding to the target action algorithm is obtained by decoding the logic sequence.
Based on this, after the control device 110 obtains the finger motion trajectory data and the index number, the target behavior algorithm may be called from the behavior algorithm library, and the finger motion trajectory data is input as the target behavior algorithm, and the corresponding hand motion is output, and then the PID control algorithm in the control unit is used to accurately control the execution device to output the hand motion, if the target behavior algorithm further defines the light control algorithm, the control unit may also be used to control the light and shade and the flicker frequency of the light through PWM according to the instruction.
It should be noted that the hand-shaped device shown in fig. 3 is only an example and is not limited to the function, wherein all the functional modules in the control device 110 are only for illustrating the working principle of the hand-shaped device of the present invention, and it may also have other functional modules to achieve the corresponding effects, and is not limited herein.
Based on the hand-shaped device provided above, the method for controlling the motion of the hand-shaped device provided in the embodiments of the present invention may be applied to the control apparatus 110 of the hand-shaped device, and may also be applied to other electronic devices with data processing capability, and when the method is applied to the electronic device, the electronic device is in communication connection with the hand-shaped device, so as to implement control of the hand-shaped device by the electronic device, so that the hand-shaped device outputs a hand motion corresponding to the finger motion trajectory data.
Referring to fig. 4, fig. 4 is a schematic flow chart of a method for controlling the movement of a hand-shaped device according to an embodiment of the present invention, where the method for controlling the movement of the hand-shaped device may include:
s401, acquiring finger motion track data and motion configuration information on the hand-shaped device.
S402, determining a target behavior algorithm from a preset behavior algorithm library according to the action configuration information. Wherein, a plurality of behavior algorithms are maintained in the behavior algorithm library; each behavior algorithm realizes different hand motions; different action configuration information corresponds to different behavior algorithms.
And S403, controlling the hand-shaped equipment to execute hand motions corresponding to the finger motion track data according to the finger motion track data and the target behavior algorithm.
According to the method for controlling the movement of the hand-shaped equipment provided by the embodiment of the invention, firstly, the finger movement track data and the action configuration information on the resistance-type logic switch device are obtained; secondly, determining a target behavior algorithm from a preset behavior algorithm library according to the action configuration information; wherein, a plurality of behavior algorithms are maintained in the behavior algorithm library; each behavior algorithm realizes different hand motions; and finally, controlling the execution device to execute the hand action corresponding to the finger motion track data according to the finger motion track data and the target behavior algorithm. The hand-shaped equipment provided by the invention can solve the problems that the existing hand-shaped toy has a single playing method and cannot meet the requirements of users.
The respective steps in the exemplary embodiment of the present invention are explained below.
In step S401, finger motion trajectory data and motion configuration information on the hand-shaped device are acquired.
In one possible implementation, the finger motion trajectory data provided by the other device may be obtained directly.
In another possible implementation, the manner of acquiring the finger motion trajectory data may be: acquiring the extensional-flexural proportion value of each finger acquired by the finger gesture acquisition device; determining the posture of each finger according to the extensional-flexural proportion value of each finger; finger motion trajectory data is determined based on the gestures of the respective fingers and predefined gesture definition data.
In the above, the finger gesture collecting means may be wirelessly connected to the hand-shaped device and provide the collected finger gesture data to the hand-shaped device.
Referring to step S402, please refer to fig. 5, where fig. 5 is a schematic flowchart of step S402 in fig. 4 according to an embodiment of the present invention:
s402-1, acquiring identification information of a plurality of resistors on the hand-shaped equipment; wherein the resistor is located in a slot of the hand device.
S402-2, determining a logic sequence corresponding to the plurality of resistors and an index number corresponding to the logic sequence according to the combination sequence of the identification information of the plurality of resistors.
S402-3, determining a target behavior algorithm from the behavior algorithm library according to the index number.
According to the combination sequence of the identification information of the resistors on the hand-shaped equipment, an index number can be determined, and then a target behavior algorithm can be called according to the index number to control the hand-shaped equipment to output corresponding hand actions, namely, the target behavior algorithm can be replaced by changing the resistors on the hand-shaped equipment, the hand actions are changed, the operation is simple, and the threshold of a user is reduced.
With respect to the step S402-2, the embodiment of the present invention further provides a possible implementation manner, that is, the step S402-2 may be implemented as follows:
step 1, determining a combination sequence of identification information corresponding to a plurality of resistors according to the serial number of the slot corresponding to each resistor.
And 2, determining a logic sequence corresponding to the plurality of resistors according to the respective identification information of the plurality of resistors, the combination sequence of all the identification information and a preset sequence table.
And 3, decoding the logic sequence to obtain the index number.
Through the technical scheme, the effect of determining the target behavior algorithm can be realized by putting the resistor into the slot on the hand-shaped equipment, the operation is simple, the operation is easy, and the use threshold of a user is reduced.
Optionally, in the embodiment of the present invention, the corresponding target behavior algorithm may also be updated for the same kind of finger motion trajectory data to implement the action transformation, please refer to fig. 6, where fig. 6 is a schematic flowchart of another method for controlling the motion of the hand-shaped device according to the embodiment of the present invention:
s404, responding to the replacement operation of the resistor on any at least one slot, and acquiring the identification information of the replaced resistor.
And S405, updating the index number according to the combination sequence of the identification information of the replaced resistor.
S406, determining a first behavior algorithm from the behavior algorithm library based on the updated index number; wherein the hand motion corresponding to the first behavior algorithm is different from the hand motion corresponding to the target behavior algorithm.
And S407, controlling the hand-shaped equipment to execute hand motions corresponding to the finger motion trajectory data according to the first behavior algorithm.
By the technical scheme, the motion configuration information can be updated, so that the hand motions corresponding to the same finger motion trajectory data can be updated, and the effects of multiple playing methods are realized.
Optionally, in order to add use fun and atmosphere, in the process of controlling the hand motion of the hand-shaped device corresponding to the finger motion track data according to the finger motion track data and the target behavior algorithm, the hand-shaped device can be controlled to start a light mode and/or a sound mode.
Optionally, if the target behavior algorithm of the game mode is matched, in order to enhance interactivity with the user, attract the attention of the user, and enhance the stickiness of the user, the method for controlling the motion of the hand-shaped device may further include: acquiring a win rate value corresponding to a game mode; and controlling the hand-shaped equipment to execute the target hand motion according to the win rate value so that the target hand motion and the finger motion track data meet the win rate value.
In order to implement the steps in the foregoing embodiments to achieve the corresponding technical effects, the method for controlling movement of a hand-shaped device according to an embodiment of the present invention may be implemented in a hardware device or in a software module, and when the method for controlling movement of a hand-shaped device is implemented in a software module, an apparatus for controlling movement of a hand-shaped device is further provided in an embodiment of the present invention, please refer to fig. 7, where fig. 7 is a functional block diagram of the apparatus for controlling movement of a hand-shaped device according to an embodiment of the present invention, and the apparatus for controlling movement of a hand-shaped device may include:
an obtaining module 301, configured to obtain finger motion trajectory data and motion configuration information on the hand-shaped device.
A determining module 302, configured to determine a target behavior algorithm from a preset behavior algorithm library according to the action configuration information; wherein, a plurality of behavior algorithms are maintained in the behavior algorithm library; each behavior algorithm implements a different hand motion.
And the control module 303 is configured to control the hand-shaped device to execute a hand action corresponding to the finger motion trajectory data according to the finger motion trajectory data and the target behavior algorithm.
It will be appreciated that the various steps of fig. 4 described above may be performed in conjunction to achieve a corresponding technical effect.
In an alternative embodiment, the determining module 302 is specifically configured to obtain identification information of a plurality of resistors on the hand-shaped device; wherein the resistor is positioned in a slot of the hand-shaped equipment; determining a logic sequence corresponding to the plurality of resistors and an index number corresponding to the logic sequence according to the combination sequence of the identification information of the plurality of resistors; and determining a target behavior algorithm from the behavior algorithm library according to the index number.
In an optional embodiment, the apparatus for controlling movement of a hand-shaped device further comprises an updating module, wherein the updating module is configured to respond to a replacement operation for a resistor on any at least one slot, and acquire identification information of the replaced resistor; updating the index number according to the combination sequence of the identification information of the replaced resistor; determining a first behavior algorithm from a behavior algorithm library based on the updated index number; wherein the hand motion corresponding to the first behavior algorithm is different from the hand motion corresponding to the target behavior algorithm; the control module 303 is further configured to control the hand-shaped device to execute a hand motion corresponding to the finger motion trajectory data according to the first behavior algorithm.
In an optional embodiment, the control module 303 is further configured to control the hand-shaped device to start the light mode and/or the sound mode in the process of controlling the hand motion of the hand-shaped device corresponding to the finger motion trajectory data according to the finger motion trajectory data and the target behavior algorithm.
In an optional implementation manner, the control module 303 is further configured to obtain a win rate value corresponding to the game mode if the target behavior algorithm corresponds to the game mode; and controlling the hand-shaped equipment to execute the target hand motion according to the win rate value so that the target hand motion and the finger motion track data meet the win rate value.
In an optional embodiment, the obtaining module 301 is specifically configured to obtain an extensional-flexural ratio value of each finger acquired by the finger posture acquisition device; determining the posture of each finger according to the extensional-flexural proportion value of each finger; finger motion trajectory data is determined based on the gestures of the respective fingers and predefined gesture definition data.
In an alternative embodiment, the determining module 302 is specifically configured to determine, according to the serial number of the slot corresponding to each resistor, a combination order of the identification information corresponding to the plurality of resistors; determining a logic sequence corresponding to the plurality of resistors according to the respective identification information of the plurality of resistors, the combination sequence of all the identification information and a preset sequence table; and decoding the logic sequence to obtain the index number.
It should be noted that, each functional module in the apparatus for controlling the motion of the hand-shaped device provided in the embodiment of the present invention may be stored in the memory in the form of software or Firmware (Firmware) or be fixed in an Operating System (OS) of the hand-shaped device or the electronic device, and may be executed by the hand-shaped device or the electronic device. Meanwhile, data, codes of programs, and the like required to execute the above modules may be stored in the memory.
The embodiment of the invention also provides electronic equipment which can be respectively in communication connection with the hand-shaped equipment and the finger gesture acquisition device and comprises a communication interface, a processor and a memory.
The memory is used for storing a preset behavior algorithm library and a sequence table; wherein, a plurality of behavior algorithms are maintained in the behavior algorithm library; each behavior algorithm realizes different hand motions; different action configuration information corresponds to different behavior algorithms; the preset sequence table is used for maintaining the corresponding relation between the identification information of the resistor and the logic value.
And the communication interface is used for acquiring the finger gesture data sent by the finger gesture acquisition device and the action configuration information sent by the hand-shaped equipment and providing the finger gesture data and the action configuration information to the processor.
The processor is used for resolving the finger posture data into finger motion track data and determining a target behavior algorithm from a preset behavior algorithm library according to the action configuration information; and determining the hand motion corresponding to the finger motion track data according to the finger motion track data and the target behavior algorithm, generating a control command corresponding to the hand motion, and sending the control command to an execution device of the hand-shaped equipment so as to execute the hand motion.
It will be appreciated that the processor may also perform the steps of fig. 5, 6 and the other steps in the embodiments described above to achieve the corresponding technical effects.
Illustratively, the processor, memory, and communication interface are electrically connected to each other, directly or indirectly, to enable transfer or interaction of data. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory may be used to store software programs and modules, such as program instructions/modules corresponding to the method for controlling the motion of a hand-shaped device provided by the embodiments of the present invention, and the processor may execute various functional applications and data processing by executing the software programs and modules stored in the memory. The communication interface may be used for communicating signaling or data with other node devices. The electronic device may have a plurality of communication interfaces in the present invention.
The Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The processor may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), etc.; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc.
Embodiments of the present invention further provide a storage medium having a computer program stored thereon, where in one possible implementation, the computer program may be, but is not limited to, developed based on an embedded development platform, and when being executed by a processor, the computer program implements the method for controlling the motion of a hand-shaped device according to any one of the foregoing implementation manners. The computer storage medium may be, but is not limited to, various media that can store program codes, such as a usb disk, a removable hard disk, a ROM, a RAM, a PROM, an EPROM, an EEPROM, a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A method of controlling movement of a hand apparatus, the method comprising:
acquiring finger motion track data and action configuration information on the hand-shaped equipment;
determining a target behavior algorithm from a preset behavior algorithm library according to the action configuration information; wherein, a plurality of behavior algorithms are maintained in the behavior algorithm library; each behavior algorithm realizes different hand motions; different action configuration information corresponds to different behavior algorithms;
controlling the hand-shaped equipment to execute hand actions corresponding to the finger motion trajectory data according to the finger motion trajectory data and the target behavior algorithm;
determining a target behavior algorithm from a preset behavior algorithm library according to the action configuration information, wherein the method comprises the following steps:
acquiring identification information of a plurality of resistors on the hand-shaped equipment; wherein the plurality of resistors are located in slots of the hand device;
determining a logic sequence corresponding to the plurality of resistors and an index number corresponding to the logic sequence according to the combination sequence of the identification information of the plurality of resistors;
and determining the target behavior algorithm from the behavior algorithm library according to the index number.
2. The method of claim 1, wherein after the step of controlling the hand-shaped device to perform a hand motion corresponding to the finger motion trajectory data according to the finger motion trajectory data and the target behavior algorithm, the method further comprises:
responding to the replacement operation of the resistor on any at least one slot, and acquiring the identification information of the replaced resistor;
updating the index number according to the combination sequence of the replaced identification information of the resistor;
determining a first behavior algorithm from the behavior algorithm library based on the updated index number; wherein the hand motion corresponding to the first behavior algorithm is different from the hand motion corresponding to the target behavior algorithm;
and controlling the hand-shaped equipment to execute hand motions corresponding to the finger motion trajectory data according to the first behavior algorithm.
3. The method of claim 1, further comprising:
and controlling the hand-shaped equipment to start a light mode and/or a sound mode in the process of controlling the hand-shaped equipment to move corresponding to the finger motion track data according to the finger motion track data and the target behavior algorithm.
4. The method of claim 1, further comprising:
if the target behavior algorithm corresponds to a game mode, acquiring a win rate value corresponding to the game mode;
and controlling the hand-shaped equipment to execute target hand motion according to the win rate value, so that the target hand motion and the finger motion track data meet the win rate value.
5. The method of claim 1, wherein obtaining finger motion trajectory data comprises:
acquiring the extensional-flexural proportion value of each finger acquired by the finger gesture acquisition device;
determining the posture of each finger according to the extensor-flexion proportion value of each finger;
determining the finger motion trajectory data based on the gestures of the respective fingers and predefined gesture definition data.
6. The method of claim 1, wherein determining the logic sequences corresponding to the resistors and the index numbers corresponding to the logic sequences according to the combination sequence of the identification information of the resistors comprises:
determining a combination sequence of the identification information corresponding to the plurality of resistors according to the serial number of the slot corresponding to each resistor;
determining logic sequences corresponding to the plurality of resistors according to the respective identification information of the plurality of resistors and the combination sequence and preset sequence table of all the identification information; the preset sequence table is used for maintaining the corresponding relation between the identification information of the resistor and the logic value;
and decoding the logic sequence to obtain the index number.
7. An apparatus for controlling the movement of a hand apparatus, comprising:
the acquisition module is used for acquiring the finger motion track data and the action configuration information on the hand-shaped equipment;
the determining module is used for determining a target behavior algorithm from a preset behavior algorithm library according to the action configuration information; wherein, a plurality of behavior algorithms are maintained in the behavior algorithm library; each behavior algorithm realizes different hand motions;
the control module is used for controlling the hand-shaped equipment to execute hand actions corresponding to the finger motion track data according to the finger motion track data and the target behavior algorithm;
a determination module specifically configured to: acquiring identification information of a plurality of resistors on the hand-shaped equipment; wherein the plurality of resistors are located in slots of the hand device;
determining a logic sequence corresponding to the plurality of resistors and an index number corresponding to the logic sequence according to the combination sequence of the identification information of the plurality of resistors;
and determining the target behavior algorithm from the behavior algorithm library according to the index number.
8. A hand-shaped device, comprising control means, resistive logic switch means and actuator means; the control device is electrically connected with the execution device and the resistance type logic switch device respectively;
the control device is used for acquiring finger motion track data and action configuration information on the resistance type logic switch device;
the control device is also used for determining a target behavior algorithm from a preset behavior algorithm library according to the action configuration information; wherein, a plurality of behavior algorithms are maintained in the behavior algorithm library; each behavior algorithm realizes different hand motions;
the control device is further used for controlling the execution device to execute the hand action corresponding to the finger motion track data according to the finger motion track data and the target behavior algorithm;
the control device is specifically configured to: acquiring identification information of a plurality of resistors on the hand-shaped equipment; wherein the plurality of resistors are located in slots of the hand device;
determining a logic sequence corresponding to the plurality of resistors and an index number corresponding to the logic sequence according to the combination sequence of the identification information of the plurality of resistors;
and determining the target behavior algorithm from the behavior algorithm library according to the index number.
9. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method according to any of claims 1-6.
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