CN109346148A - The two dimensional code location recognition method and its system of upper-limbs rehabilitation training robot - Google Patents
The two dimensional code location recognition method and its system of upper-limbs rehabilitation training robot Download PDFInfo
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- CN109346148A CN109346148A CN201810934338.2A CN201810934338A CN109346148A CN 109346148 A CN109346148 A CN 109346148A CN 201810934338 A CN201810934338 A CN 201810934338A CN 109346148 A CN109346148 A CN 109346148A
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- China
- Prior art keywords
- dimensional code
- mobile robot
- coordinate value
- camera
- controller
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Classifications
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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
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
Abstract
The invention discloses the two dimensional code location recognition methods of upper-limbs rehabilitation training robot, host is carried out wireless communication with mobile robot, the mobile robot is mobile in operation desktop, it is covered with identification two dimensional code in position on the operation desktop, camera is provided in the mobile robot, two dimensional code location recognition method includes: the joint training game that the controller selection mobile robot of the host needs to carry out, and drives the mobile robot mobile；The controller is issued to the camera and is instructed, and is controlled the camera and is scanned to position identification two dimensional code；The numerical value conversion of the position identification two dimensional code of scanning is X-coordinate value and Y-coordinate value by the controller, obtains the current location of the mobile robot.The two dimensional code location recognition method efficiently solves the problems such as general joint training aids is unable to satisfy complicated rehabilitation training requirement.Invention additionally discloses the two dimensional code position-recognizing systems for using above-mentioned two dimensional code location recognition method.
Description
Technical field
The present invention relates to rehabilitation training technical fields, more particularly to a kind of two dimensional code location recognition method.In addition, this hair
A kind of bright two-dimentional code position identification system for further relating to upper-limbs rehabilitation training robot including above-mentioned two dimensional code location recognition method
System.
Background technique
Existing upper-limbs rehabilitation training robot product technology realization on require ectoskeleton greatly as mechanical arm and
Bulky support base；Or joint position only fed back with sensor for more easy joint training aids etc., but cannot be according to
Complicated rehabilitation training requirement is realized by technologies such as motor controls.
The shortcomings that conventional ectoskeleton upper limb rehabilitation robot product is: ectoskeleton mechanical arm size is big, training joint number
More multiple-length direction size is bigger.The support base of installation and the fixation of mechanical arm dimensionally in weight all very greatly and very
Weight.The shortcomings that joint training aids of routine is: the driving of joint training is seldom to be driven and carried out position control by motor
It makes to complete, so that general joint training aids is unable to satisfy complicated rehabilitation training requirement.
It is asked in conclusion how to efficiently solve general joint training aids and be unable to satisfy complicated rehabilitation training requirement etc.
Topic, is current those skilled in the art's urgent problem.
Summary of the invention
The object of the present invention is to provide a kind of two dimensional code location recognition method of upper-limbs rehabilitation training robot, the two dimensional codes
Location recognition method efficiently solves the problems such as general joint training aids is unable to satisfy complicated rehabilitation training requirement；This hair
Bright another object is to provide a kind of two dimensional code position-recognizing system using above-mentioned two dimensional code location recognition method.
In order to solve the above technical problems, the invention provides the following technical scheme:
A kind of two dimensional code location recognition method of upper-limbs rehabilitation training robot, host and mobile robot carry out channel radio
Letter, the mobile robot is mobile in operation desktop, and position identification two dimensional code, the mobile machine are covered on the operation desktop
Camera is provided on people, two dimensional code location recognition method includes:
The joint training game that the controller selection mobile robot of the host needs to carry out, and drive the moving machine
Device people is mobile；
The controller is issued to the camera and is instructed, and is controlled the camera and is carried out to position identification two dimensional code
Scanning；
The numerical value conversion of the position identification two dimensional code of scanning is X-coordinate value and Y-coordinate value by the controller, is obtained
The current location of the mobile robot.
Preferably, the host is connect with display screen, and the X-coordinate value and Y-coordinate value of the position identification two dimensional code are shown
On the display screen.
Preferably, the host is carried out wireless communication by bluetooth and the mobile robot.
The present invention also provides a kind of two dimensional code position-recognizing system of upper-limbs rehabilitation training robot, including operation desktop,
Host, the mobile robot carried out wireless communication with the host, the mobile robot move up dynamic, institute in the operation desktop
It states and is covered with identification two dimensional code in position on operation desktop, be provided with camera in the mobile robot,
The joint training game that the controller of the host is used to that mobile robot to be selected to need to carry out, and drive the shifting
Mobile robot is mobile；The controller is issued to the camera and is instructed, and is controlled the camera and is identified two dimension to the position
Code is scanned；The numerical value conversion of the position of scanning identification two dimensional code is X-coordinate value and Y-coordinate value by the controller,
Obtain the current location of the mobile robot.
It preferably, further include the connection that display screen is connect with the host, the display screen is for position identification two
Tie up the X-coordinate value and Y-coordinate value of code.
The two dimensional code location recognition method of upper-limbs rehabilitation training robot provided by the present invention, host and mobile robot
It carries out wireless communication, mobile robot is mobile in operation desktop, operates and is covered with position identification two dimensional code, mobile robot on desktop
On be provided with camera, two dimensional code location recognition method includes:
The joint training game that the controller selection mobile robot of host needs to carry out, joint training game is rehabilitation teacher
It is formulated according to patient profiles.Controller drives mobile robot mobile, carries out joint training game.
Controller is issued to camera and is instructed, and control camera sweeps the position identification two dimensional code on operation desktop
It retouches, and obtains the numerical value of the position identification two dimensional code of current location.
The numerical value conversion of the position identification two dimensional code of scanning is X-coordinate value and Y-coordinate value by controller, obtains mobile machine
The current location of people can intuitively, accurately obtain the current location of mobile robot on operation desktop.
Two dimensional code location recognition method provided by the present invention controls camera by controller and identifies two dimensional code to position
It is scanned, obtains the location of mobile robot, more accurately, fast, facilitate implementation.
Invention also provides a kind of two dimensional code position-recognizing system of upper-limbs rehabilitation training robot, including operation desktop, master
Machine, the mobile robot carried out wireless communication with host, mobile robot move up dynamic in operation desktop, operate and are covered with position on desktop
Identification two dimensional code is set, camera is provided in mobile robot, the controller of host is for selecting mobile robot to need to carry out
Joint training game, and drive mobile robot mobile；Controller is issued to camera and is instructed, and control camera knows position
Other two dimensional code is scanned；The numerical value conversion of the position identification two dimensional code of scanning is X-coordinate value and Y-coordinate value by controller, is obtained
Obtain the current location of mobile robot.The two dimensional code position-recognizing system by any of the above-described kind of two dimensional code location recognition method into
Row identification.Since above-mentioned two dimensional code location recognition method has above-mentioned technique effect, pass through the two dimensional code location recognition method
The two dimensional code position-recognizing system of identification should also have corresponding technical effect.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of schematic diagram of two dimensional code location recognition method provided by specific embodiment in the present invention.
Specific embodiment
Core of the invention is to provide a kind of two dimensional code location recognition method of upper-limbs rehabilitation training robot, the two dimensional code
Location recognition method efficiently solves the problems such as general joint training aids is unable to satisfy complicated rehabilitation training requirement；This hair
Bright another core is to provide a kind of two dimensional code position-recognizing system using above-mentioned two dimensional code location recognition method.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to FIG. 1, Fig. 1 showing for two dimensional code location recognition method provided by specific embodiment a kind of in the present invention
It is intended to.
In a specific embodiment, the two-dimentional code position identification of upper-limbs rehabilitation training robot provided by the present invention
Method, host are carried out wireless communication with mobile robot, and mobile robot is mobile in operation desktop, are operated and are covered with position on desktop
It identifies two dimensional code, is provided with camera in mobile robot, two dimensional code location recognition method includes:
Step 100: the joint training game that the controller selection mobile robot of host needs to carry out, joint training game
It is that rehabilitation teacher formulates according to patient profiles.Controller drives mobile robot mobile, carries out joint training game.
Step 200: controller is issued to camera and is instructed, and control camera identifies two dimensional code to the position on operation desktop
It is scanned, and obtains the numerical value of the position identification two dimensional code of current location.
Step 300: the numerical value conversion of the position identification two dimensional code of scanning is X-coordinate value and Y-coordinate value by controller, is obtained
The current location of mobile robot can intuitively, accurately obtain the current location of mobile robot on operation desktop.
Two dimensional code location recognition method provided by the present invention controls camera by controller and identifies two dimensional code to position
It is scanned, obtains the location of mobile robot, more accurately, fast, facilitate implementation.
Above-mentioned two dimensional code location recognition method is only a kind of preferred embodiment, is specifically not limited thereto, on this basis may be used
It makes having according to actual needs and targetedly adjust, to obtain different embodiments, host is connect with display screen, display
Screen can be liquid crystal display, and picture is relatively clear, and the X-coordinate value and Y-coordinate value of position identification two dimensional code are shown in display screen
On, facilitate patient and rehabilitation teacher to check the X-coordinate value and Y-coordinate value of healing robot current location, and record or phase at any time
Rehabilitation information is answered, rehabilitation efficacy is improved.
On the basis of above-mentioned specific embodiment, those skilled in the art can be according to the difference of specific occasion, to two
Tie up code position recognition methods and carry out several changes, host is carried out wireless communication by bluetooth and mobile robot, by bluetooth into
Row wireless communication can connect multiple mobile robots, and data can synchronize transmission.Certainly, it is carried out wireless communication only by bluetooth
A kind of preferred embodiment, be not it is unique, can also be other suitable modes, for example, Wi-Fi wireless communication,
The technologies such as 2G, 4G mobile communication, specific communication is unrestricted, all within the scope of the present invention.
Invention also provides a kind of two dimensional code position-recognizing system of upper-limbs rehabilitation training robot, including operation desktop, master
Machine, the mobile robot carried out wireless communication with host, mobile robot move up dynamic in operation desktop, operate and are covered with position on desktop
Identification two dimensional code is set, camera is provided in mobile robot, the controller of host is for selecting mobile robot to need to carry out
Joint training game, and drive mobile robot mobile；Controller is issued to camera and is instructed, and control camera knows position
Other two dimensional code is scanned；The numerical value conversion of the position identification two dimensional code of scanning is X-coordinate value and Y-coordinate value by controller, is obtained
Obtain the current location of mobile robot.
Two dimensional code position-recognizing system provided by the present invention controls camera by controller and identifies two dimensional code to position
It is scanned, obtains the location of mobile robot, more accurately, fast, facilitate implementation.
Obviously, under the guidance of this thought, those skilled in the art can be according to the difference of specific occasion to above-mentioned
Specific embodiment carries out several changes, further includes the connection that display screen is connect with host, display screen is for position identification two dimension
The X-coordinate value and Y-coordinate value of code facilitate patient and rehabilitation teacher to check that the X-coordinate value of healing robot current location and Y are sat at any time
Scale value, and record or corresponding rehabilitation information, improve rehabilitation efficacy.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (5)
1. a kind of two dimensional code location recognition method of upper-limbs rehabilitation training robot, which is characterized in that host and mobile robot
It carries out wireless communication, the mobile robot is mobile in operation desktop, and position identification two dimensional code, institute are covered on the operation desktop
It states and is provided with camera in mobile robot, two dimensional code location recognition method includes:
The joint training game that the controller selection mobile robot of the host needs to carry out, and drive the mobile robot
It is mobile；
The controller is issued to the camera and is instructed, and is controlled the camera and is swept to position identification two dimensional code
It retouches；
The position of scanning is identified the numerical value conversion of two dimensional code for X-coordinate value and Y-coordinate value, described in acquisition by the controller
The current location of mobile robot.
2. two dimensional code location recognition method according to claim 1, which is characterized in that the host is connect with display screen,
The X-coordinate value and Y-coordinate value of the position identification two dimensional code are shown on the display screen.
3. two dimensional code location recognition method according to claim 1, which is characterized in that the host by bluetooth with it is described
Mobile robot carries out wireless communication.
4. a kind of two dimensional code position-recognizing system of upper-limbs rehabilitation training robot, which is characterized in that including operating desktop, master
Machine, the mobile robot carried out wireless communication with the host, the mobile robot moved up in the operation desktop it is dynamic, it is described
It is covered with identification two dimensional code in position on operation desktop, is provided with camera in the mobile robot,
The joint training game that the controller of the host is used to that mobile robot to be selected to need to carry out, and drive the moving machine
Device people is mobile；The controller to the camera issue instruct, control the camera to the position identify two dimensional code into
Row scanning；The numerical value conversion of the position identification two dimensional code of scanning is X-coordinate value and Y-coordinate value by the controller, is obtained
The current location of the mobile robot.
5. two dimensional code position-recognizing system according to claim 1, which is characterized in that further include connecting to show with the host
The connection of display screen, X-coordinate value and Y-coordinate value of the display screen for position identification two dimensional code.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810934338.2A CN109346148A (en) | 2018-08-16 | 2018-08-16 | The two dimensional code location recognition method and its system of upper-limbs rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810934338.2A CN109346148A (en) | 2018-08-16 | 2018-08-16 | The two dimensional code location recognition method and its system of upper-limbs rehabilitation training robot |
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| CN109346148A true CN109346148A (en) | 2019-02-15 |
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| CN201810934338.2A Pending CN109346148A (en) | 2018-08-16 | 2018-08-16 | The two dimensional code location recognition method and its system of upper-limbs rehabilitation training robot |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102088945A (en) * | 2008-05-23 | 2011-06-08 | 法特罗尼克基金会 | Portable device for upper limb rehabilitation |
| CN104848858A (en) * | 2015-06-01 | 2015-08-19 | 北京极智嘉科技有限公司 | Two-dimensional code and vision-inert combined navigation system and method for robot |
| US9265685B1 (en) * | 2014-05-01 | 2016-02-23 | University Of South Florida | Compliant bimanual rehabilitation device and method of use thereof |
| CN105437251A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Method and device for locating position of robot |
-
2018
- 2018-08-16 CN CN201810934338.2A patent/CN109346148A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102088945A (en) * | 2008-05-23 | 2011-06-08 | 法特罗尼克基金会 | Portable device for upper limb rehabilitation |
| US9265685B1 (en) * | 2014-05-01 | 2016-02-23 | University Of South Florida | Compliant bimanual rehabilitation device and method of use thereof |
| CN104848858A (en) * | 2015-06-01 | 2015-08-19 | 北京极智嘉科技有限公司 | Two-dimensional code and vision-inert combined navigation system and method for robot |
| CN105437251A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Method and device for locating position of robot |
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Application publication date: 20190215 |
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