CN110308798A - A kind of easy donning formula multi-link structure remote operating controller of stereoscopic vision auxiliary - Google Patents
A kind of easy donning formula multi-link structure remote operating controller of stereoscopic vision auxiliary Download PDFInfo
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- CN110308798A CN110308798A CN201910698906.8A CN201910698906A CN110308798A CN 110308798 A CN110308798 A CN 110308798A CN 201910698906 A CN201910698906 A CN 201910698906A CN 110308798 A CN110308798 A CN 110308798A
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- connecting rod
- controller
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- arm link
- stereoscopic vision
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- 239000011521 glass Substances 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 210000000707 wrist Anatomy 0.000 claims description 14
- 239000007787 solid Substances 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000001037 metacarpus Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000014616 translation Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
- F16H21/16—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for interconverting rotary motion and reciprocating motion
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
Abstract
The present invention discloses a kind of easy donning formula multi-link structure remote operating controller of stereoscopic vision auxiliary.The controller has the characteristics that overall structure is arranged that reasonable and practical property is strong, and primary structure can be divided into four parts, respectively controller main body, tripod, foldable VR glasses and mobile phone, and in addition to mobile phone, each component is foldable, easy to carry.Also have the characteristics that easy donning is easily debugged simultaneously, manipulator leans against controller standing or sitting, and each two fingerstall of both hands enters finger ring can draw operations.Because stereoscopic vision used in manipulator's observation is shown by being inserted in the mobile phone of VR glasses, controller controls information also by handset processes and transmission, to reduce the investment to high-performance hardware.The type selection of long-range execution unit can voluntarily be distributed by client, further enhance the versatility of equipment.Controller has multi link mechanical structure and uses small size high-precision hall angular transducer, thus has the characteristics that precision is high, small without place limitation, overall dimensions.
Description
Technical field
The present invention relates to remote operating control technology field, specially a kind of easy donning formula multi link knot of stereoscopic vision auxiliary
Structure remote operating controller.
Background technique
Remote operating refers to remote human-computer interaction, has expanded the perception and capacity of people, is related to people and distal end executes
The interaction of mechanism and its interaction of environment, remote operating will usually acquire operator's body parts spatial position and posture, especially
It is the movement on upper limb and head, four classes is generally comprised for this equipment for capturing body motion information.The first kind is mouse, key
The contact action of disk and mobile terminal easily learns its advantage is that easily obtaining, the disadvantage is that the freedom degree that can be provided parallel is less,
Thus can parallel control equipment it is limited.Second class is that various remote-control handles and humanoid ectoskeleton posture information collector etc. connect
The mechanical control device of touch.Remote-control handle is a to have three translations free as described in patent [CN201721119589.2]
The remote-control handle of degree and three-rotational-freedom, its advantage is that exempting from wearing, precision height, can rapidly entering and leave remote control field
Scape, the disadvantage is that controllable freedom degree is few and needs operator to have certain operating experience just to can be effectively controlled.Apery
Shape ectoskeleton posture information collector is that a kind of acquisition clothes are through by user as described in patent [CN201110107593.8]
With, human action information is acquired by sensor actuation acquisition module, its advantage is that freedom degree up to 16 of acquisition, simultaneously
Acquisition precision is also high, the disadvantage is that equipment size is larger, wearing is cumbersome, cannot rapidly enter and leave remote control scene.The
Three classes are that the motion capture system based on inertia sensing technology uses distribution as described in patent [CN201410498731.3]
Compensation model and be uniformly controlled two methods of mode control 17 inertia sensing nodes same time point carry out data acquisition,
Advantage is that acquisition device size is small and exquisite, portable, is not limited by space enrironment, the disadvantage is that wearing is cumbersome, it is numerous using preceding debugging
It is trivial.4th class, which is that the human action capture equipment based on optical system as described in patent [CN201510130564.1] more, to be taken the photograph
Camera synchronous acquisition unit is mainly used for 3 D human body whole body body athletic posture real-time estimation and tracking, its advantage is that exempting to wear
It wears, scope of activities is not kept in check by the external world, remote control scene can be rapidly entered and leave, the disadvantage is that having special need to place
It asks, especially to prevent light from interfering, also have higher requirements to computing unit performance, control fineness is also not ideal enough.To sum up, it grinds
Study carefully easy donning, low cost, it is easily portable, there is reality without place demand and control remote operating controller with high accuracy apply valence
Value.
From practical application angle, in summary all kinds of remote operating controller advantage and disadvantage, have invented stereoscopic vision auxiliary
Easy donning formula multi-link structure remote operating controller.Rationally, primary structure can be divided into four for the overall structure setting of the controller
A part, respectively controller main body, tripod, foldable VR glasses and mobile phone, in addition to mobile phone, each component is foldable, just
In carrying.Controller also has the characteristics that easy donning is easily debugged, and manipulator leans against controller standing or sitting, each two fingerstall of both hands
Enter finger ring draw operations.Manipulator's observation stereoscopic vision used is shown by mobile phone and controller control information passes through mobile phone
Processing and transmission, reduce the investment to high-performance hardware, thus cost is relatively low.The type selection of long-range execution unit can be by visitor
Family is voluntarily distributed, and the versatility of equipment is further enhanced.Another controller is multi link mechanical structure and uses small size high
Precision Hall angular transducer, thus have the characteristics that precision is high, size is small, do not limited by place.
Summary of the invention
1. the technical issues that need to address
Present invention solves the technical problem that be to overcome some defects of all kinds of remote operating controllers of the prior art, it is comprehensive
More practical function is devised after considering advantage and disadvantage.The defect of all kinds of remote operating controllers is different because of classification, comprising: mouse button
The freedom degree that disk class can provide parallel is less；Universal machine class equipment size is larger, and operator is needed to have certain operation warp
Testing just can be effectively controlled；Inertia sensing class wearing is cumbersome, cannot rapidly enter and leave remote control scene；Optics are to place
There is specific demand, interferes vulnerable to light, have higher requirements to computing unit performance, control fineness is not ideal enough etc..The present invention mentions
A kind of easy donning formula multi-link structure remote operating controller of stereoscopic vision auxiliary is supplied.A kind of stereoscopic vision assists easy
Wearable multi-link structure remote operating controller has the characteristics that overall structure is arranged that reasonable and practical property is strong, and primary structure can be divided into
Four parts, respectively controller main body, tripod, foldable VR glasses and mobile phone, in addition to mobile phone, each component is foldable,
It is easy to carry.Also have the characteristics that easy donning is easily debugged simultaneously, manipulator leans against controller standing or sitting, each two fingerstall of both hands
Entering finger ring can draw operations.Because stereoscopic vision used in manipulator's observation is shown by being inserted in the mobile phone of VR glasses, control
Device controls information also by handset processes and transmission, to reduce the investment to high-performance hardware, cost is relatively low.It is long-range to execute
The type selection of unit can voluntarily be distributed by client, further enhance the versatility of equipment.Controller has multi link mechanical
Formula structure simultaneously uses small size high-precision hall angular transducer, thus has precision high, small without place limitation, overall dimensions
Feature.
2. technical solution
To achieve the above object, the invention provides the following technical scheme: a kind of easy donning Shi Duolian of stereoscopic vision auxiliary
Rod structure remote operating controller, including tripod, controller, mobile phone, foldable VR glasses, processor, binocular solid camera,
Executing agency's (including relay group, executing agency), the controller are provided with master connecting-rod, and the left and right sides of master connecting-rod is pacified respectively
Lower part equipped with left shoulder connecting rod and right shoulder connecting rod, and left shoulder connecting rod is equipped with upper left arm link, the lower part installation of upper left arm link
There is lower-left arm link, the lower part of lower-left arm link is equipped with left finesse connecting rod, and the lower part of left finesse connecting rod is equipped with the left hand palm and connects
Bar, and the lower part of right shoulder connecting rod is equipped with upper right arm link, and the lower part of upper right arm link is equipped with bottom right arm link, bottom right arm
The lower part of connecting rod is equipped with right finesse connecting rod, and the lower part of right finesse connecting rod is equipped with right hand palm connecting rod；The outside of the master connecting-rod
Main shell is installed, and the upper end of tripod is mounted on the back of main shell, and the outside of left shoulder connecting rod is equipped with left shoulder
Shell, the outside of upper left arm link are equipped with left upper arm shell, and the outside of lower-left arm link is equipped with lower-left arm shell, left finesse
The outside of connecting rod and left hand palm connecting rod is equipped with left hand palm wrist shell, while the outside of right shoulder connecting rod is equipped with right shoulder shell,
The outside of upper right arm link is equipped with right upper arm shell, and the outside of bottom right arm link is equipped with bottom right arm shell, right finesse connecting rod
Right hand palm wrist shell is installed with the outside of right hand palm connecting rod.
The easy donning formula multi-link structure remote operating controller of above-mentioned stereoscopic vision auxiliary, wherein the lower-left arm connects
It is hinged by the 4th miniature flange steering wheel and the 6th mini Hall angular transducer between bar and left finesse connecting rod and left
One is hinged on by the 6th miniature flange steering wheel and the 5th mini Hall angular transducer between wrist connecting rod and left hand palm connecting rod
It rises.
The easy donning formula multi-link structure remote operating controller of above-mentioned stereoscopic vision auxiliary, wherein the left hand palm connects
4th mini Hall angular transducer and the 5th miniature flange steering wheel are installed, and the end of left hand palm connecting rod is provided with a left side on bar
Hand two fingers casing, and rocking bar is installed on left hand two fingers casing.
The easy donning formula multi-link structure remote operating controller of above-mentioned stereoscopic vision auxiliary, wherein the bottom right arm connects
It is hinged by the first mini Hall angular transducer and the miniature flange steering wheel of third between bar and right finesse connecting rod and right
It is hinged between wrist connecting rod and right hand palm connecting rod by the second mini Hall angular transducer and the first miniature flange steering wheel
Together.
The easy donning formula multi-link structure remote operating controller of above-mentioned stereoscopic vision auxiliary, wherein the right hand palm connects
Second miniature flange steering wheel and third mini Hall angular transducer are installed, and the end of right hand palm connecting rod is provided with the right side on bar
Hand two fingers casing, and right hand two fingers casing on button keyboard is installed, while button keyboard is using 3 × 3 matrix keys
Disk.
The easy donning formula multi-link structure remote operating controller of above-mentioned stereoscopic vision auxiliary, wherein the master connecting-rod with
It is cut with scissors by the 9th miniature flange steering wheel and the 9th mini Hall angular transducer between left shoulder connecting rod, master connecting-rod and right shoulder connecting rod
It connects in succession, and passes through the 8th miniature flange steering wheel between left shoulder connecting rod and upper left arm link, right shoulder connecting rod and upper right arm link
It is hinged with the 8th mini Hall angular transducer, and upper left arm link and lower-left arm link, upper right arm link and the right side
It is articulated and connected by the 7th miniature flange steering wheel and the 7th mini Hall angular transducer between lower arm link.
The easy donning formula multi-link structure remote operating controller of above-mentioned stereoscopic vision auxiliary, wherein the tripod with
It is connected between main shell back skin by fixing bolt, and the scalable setting of middle part standpipe of tripod.
The easy donning formula multi-link structure remote operating controller of above-mentioned stereoscopic vision auxiliary, wherein the tripod
Control panel and power module are installed in upper end, and contain bluetooth serial ports transparent transmission module in control panel, is turned containing at least 14 road A/D
Parallel operation is acquired containing at least 10 way switch amounts, and power module includes lithium battery group and charge and discharge control module.
The easy donning formula multi-link structure remote operating controller of above-mentioned stereoscopic vision auxiliary, wherein the controller is logical
The APP crossed on bluetooth and mobile phone is communicated, and the APP on mobile phone is transmitted to processor by network signal, is driven after processor parsing
Executing agency's movement, and binocular solid camera provides video flowing to processor, passes through network letter after processor combined audio stream
Number send the APP on mobile phone to, stereoscopic vision and audio is presented in the APP on mobile phone in time.
The easy donning formula multi-link structure remote operating controller of above-mentioned stereoscopic vision auxiliary, wherein the executing agency
For steering engine group or motor group.
3. beneficial effect
In conclusion the beneficial effects of the present invention are:
(1) easy donning is easily debugged, and manipulator leans against controller standing or sitting, it is desirable that shoulder and master connecting-rod flush, right-hand man
Each two fingerstall enters finger ring operation, convenient for rapidly entering and being detached from working condition；
(2) foldable, portable, primary structure can be divided into four parts, respectively controller main body, tripod, can roll over
Folded VR glasses and mobile phone, in addition to mobile phone, each component is foldable, easy to carry；
(3) low cost, it is generally applicable, because stereoscopic vision show by mobile phone and controller control information pass through handset processes with
Transmission, reduces the investment to high-performance software and hardware, thus cost is relatively low, versatility, the type choosing of long-range execution unit
Selecting can voluntarily be distributed by client, further enhance the versatility of equipment；
(4) precision is high, is not limited by place, and controller has multi link mechanical structure and uses small size high-precision suddenly
That angular transducer, thus precision is high, also little without place limitation, overall dimensions.
Detailed description of the invention
Fig. 1 is the schematic elevation view of structure of the invention；
Fig. 2 is that the controller decomposition diagram of structure of the invention is intended to；
Fig. 3 is the left-handed configuration schematic diagram of structure of the invention；
Fig. 4 is the right hand configurations schematic diagram of structure of the invention；
Fig. 5 is right-hand man's link mechanism schematic diagram of structure of the invention；
Fig. 6 is the right hand and left hand wrist and the corresponding structural scheme of mechanism of metacarpus of structure of the invention；
Fig. 7 is the shoulder and ancon articulated manner schematic diagram of structure of the invention；
Fig. 8 is that the information stream description of structure of the invention illustrates intention.
Figure label: 1, master connecting-rod, 2, left shoulder connecting rod, 3, upper left arm link, 4, lower-left arm link, 5, left finesse connecting rod,
6, left hand palm connecting rod, 7, right hand palm wrist shell, 8, bottom right arm shell, 9, right upper arm shell, 10, control panel, 11, power module,
12, right shoulder shell, 13, main shell, the 14, first mini Hall angular transducer, the 15, second mini Hall angular transducer,
16, the first miniature flange steering wheel, 17, right hand two fingers casing, 18, button keyboard, the 19, second miniature flange steering wheel, 20, third it is micro-
Type Hall angular transducer, 21, the miniature flange steering wheel of third, the 22, the 4th miniature flange steering wheel, the 23, the 4th mini Hall angle
Sensor, the 24, the 5th miniature flange steering wheel, 25, rocking bar, 26, left hand two fingers casing, the 27, the 6th miniature flange steering wheel, 28,
Five mini Hall angular transducers, the 29, the 6th mini Hall angular transducer, the 30, the 7th miniature flange steering wheel, the 31, the 7th is micro-
Type Hall angular transducer, the 32, the 8th miniature flange steering wheel, the 33, the 8th mini Hall angular transducer, the 34, the 9th miniature method
Blue steering wheel, the 35, the 9th mini Hall angular transducer, 36, tripod, 37, right shoulder connecting rod, 38, upper right arm link, 39, bottom right
Arm link, 40, right finesse connecting rod, 41, right hand palm connecting rod, 42, left shoulder shell, 43, left upper arm shell, 44, lower-left arm shell,
45, left hand slaps wrist shell, 46, controller, 47, mobile phone, 48, foldable VR glasses, 49, processor, 50, binocular solid camera shooting
Head, 51, relay group, 52, executing agency.
Specific embodiment
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.
Refer to shown in attached drawing 1 to attached drawing 8, the present invention provides a kind of technical solution: a kind of stereoscopic vision auxiliary is easily worn
Wear formula multi-link structure remote operating controller, including master connecting-rod 1, left shoulder connecting rod 2, upper left arm link 3, lower-left arm link 4, left hand
Wrist connecting rod 5, left hand palm connecting rod 6, the right hand slap wrist shell 7, bottom right arm shell 8, right upper arm shell 9, control panel 10, power module
11, right shoulder shell 12, main shell 13, the first mini Hall angular transducer 14, the second mini Hall angular transducer 15,
One miniature flange steering wheel 16, right hand two fingers casing 17, button keyboard 18, the second miniature flange steering wheel 19, third mini Hall angle
Spend sensor 20, the miniature flange steering wheel 21 of third, the 4th miniature flange steering wheel 22, the 4th mini Hall angular transducer 23, the
Five miniature flange steering wheels 24, rocking bar 25, left hand two fingers casing 26, the 6th miniature flange steering wheel 27, the 5th mini Hall angle pass
Sensor 28, the 6th mini Hall angular transducer 29, the 7th miniature flange steering wheel 30, the 7th mini Hall angular transducer 31,
8th miniature flange steering wheel 32, the 8th mini Hall angular transducer 33, the 9th miniature flange steering wheel 34, the 9th mini Hall angle
Spend sensor 35, tripod 36, right shoulder connecting rod 37, upper right arm link 38, bottom right arm link 39, right finesse connecting rod 40, the right hand palm
Connecting rod 41, left shoulder shell 42, left upper arm shell 43, lower-left arm shell 44, left hand the palm wrist shell 45, controller 46, mobile phone 47,
Foldable VR glasses 48, processor 49, binocular solid camera 50, relay group 51 and executing agency 52, controller 46 are arranged
There is master connecting-rod 1, the left and right sides of master connecting-rod 1 is separately installed with left shoulder connecting rod 2 and right shoulder connecting rod 37, and the lower part of left shoulder connecting rod 2
Upper left arm link 3 is installed, the lower part of upper left arm link 3 is equipped with lower-left arm link 4, and the lower part of lower-left arm link 4 is equipped with
Left finesse connecting rod 5 passes through the 4th miniature flange steering wheel 22 and the 6th mini Hall between lower-left arm link 4 and left finesse connecting rod 5
Angular transducer 29 is hinged, and the lower part of left finesse connecting rod 5 is equipped with left hand palm connecting rod 6, and left finesse connecting rod 5 and left hand
Slap hinged by the 6th miniature flange steering wheel 27 and the 5th mini Hall angular transducer 28 between connecting rod 6, the left hand palm
4th mini Hall angular transducer 23 and the 5th miniature flange steering wheel 24, and the end of left hand palm connecting rod 6 are installed on connecting rod 6
It is provided with left hand two fingers casing 26, and left hand two fingers casing 26 is equipped with rocking bar 25, and the lower part peace of right shoulder connecting rod 37
Equipped with upper right arm link 38, the lower part of upper right arm link 38 is equipped with bottom right arm link 39, the lower part installation of bottom right arm link 39
There is right finesse connecting rod 40, the lower part of right finesse connecting rod 40 is equipped with right hand palm connecting rod 41, and the outside of master connecting-rod 1 is equipped with main shell
13, it is connected by fixing bolt between 13 back skin of tripod 36 and main shell, and the middle part standpipe of tripod 36 is scalable
Setting, and the upper end of tripod 36 is mounted on the back of main shell 13, and control panel 10 and electricity are equipped in the upper end of tripod 36
Source module 11, and contain bluetooth serial ports transparent transmission module in control panel 10, contain at least 14 road A/D converters, contains at least 10 tunnels
Switch acquisition, and power module 11 includes lithium battery group and charge and discharge control module, and the external of left shoulder connecting rod 2 is pacified
Equipped with left shoulder shell 42, the outside of upper left arm link 3 is equipped with left upper arm shell 43, and the outside of lower-left arm link 4 is equipped with
The outside of lower-left arm shell 44, left finesse connecting rod 5 and left hand palm connecting rod 6 is equipped with left hand palm wrist shell 45, while right shoulder connecting rod
37 outside is equipped with right shoulder shell 12, and the outside of upper right arm link 38 is equipped with right upper arm shell 9, bottom right arm link 39
Outside is equipped with bottom right arm shell 8, and the outside that right finesse connecting rod 40 and the right hand slap connecting rod 41 is equipped with right hand palm wrist shell 7, right
Pass through the first mini Hall angular transducer 14 and the miniature flange steering wheel 21 of third between lower arm link 39 and right finesse connecting rod 40
It is hinged, and pass through the second mini Hall angular transducer 15 and first between right finesse connecting rod 40 and right hand palm connecting rod 41
Miniature flange steering wheel 16 is hinged on together, is equipped with the second miniature flange steering wheel 19 on right hand palm connecting rod 41 and third is miniature suddenly
Your angular transducer 20, and the end of right hand palm connecting rod 41 is provided with right hand two fingers casing 17, and right hand two fingers casing 17
On button keyboard 18 is installed, while button keyboard 18 is using 3 × 3 matrix keyboards, master connecting-rod 1 and left shoulder connecting rod 2, main company
Hingedly connected by the 9th miniature flange steering wheel 34 and the 9th mini Hall angular transducer 35 between bar 1 and right shoulder connecting rod 37
It connects, and passes through the 8th miniature flange rudder between left shoulder connecting rod 2 and upper left arm link 3, right shoulder connecting rod 37 and upper right arm link 38
Disk 32 and the 8th mini Hall angular transducer 33 are hinged, and upper left arm link 3 and lower-left arm link 4, right upper arm
It is cut with scissors by the 7th miniature flange steering wheel 30 and the 7th mini Hall angular transducer 31 between connecting rod 38 and bottom right arm link 39
It connects in succession, controller 46 is communicated by the APP in bluetooth and mobile phone 47, and the APP on mobile phone 47 is transmitted everywhere by network signal
Reason machine 49, processor 49 parses rear-guard motor type relay group 51 and executing agency 52 acts, and binocular solid camera 50 provides view
Frequency stream sends the APP on mobile phone 47 to by network signal after 49 combined audio stream of processor to processor 49, on mobile phone 47
Stereoscopic vision and audio is presented in APP in time.
As shown in figure 8, showing the overall structure and partial structurtes setting of this setting in figure, controller 46 is mainly by 11
Connecting rod forms, hinged by Hall angular transducer and flange between connecting rod, has used 12 groups of angular transducers and flange altogether, left
Wherein one end is equipped with a distant bar and a button for two ends of palm connecting rod 6 and right hand palm connecting rod 41, and the other end is equipped with 3 × 3
Matrix keyboard, two ends are equipped with ring device, need to use index finger and middle finger traction control simultaneously, acquisition passes controller 46 in real time
Sensor and button state are simultaneously sent to user mobile phone APP use by bluetooth communication mode, and 46 lower part of controller is folding
Tripod 36；
Controller 46 uses 12 angular transducers, a rocking bar and 10 buttons, thus at least may be used in remote operating
The parallel output and 10 output switch parameters of 14 freedom degrees are provided simultaneously, if more freedom and switch will be had by being applied in combination
The output of amount；
46 main structure of controller is compact, and hinged using mini Hall angular transducer and miniature flange, overall dimensions are not
Greatly, lighter in weight, but because of the detachable foldable of tripod, therefore, a full set of it can store, it is easy to carry；
Hall angular transducer used in controller 46 is with size is small, linear precision is high, aluminum alloy casing, stainless steel
The characteristics of axis and bearing and mechanical life are more than 80,000,000 turns, thus this structure design can meet simultaneously function, size, intensity and
Required precision；
The top structure of tripod 36 and the back skin of controller 46 are bolted, the middle part standpipe of tripod 36
The scalable operator to adapt to different heights, operator need to only lean against each two fingerstall of equipment right-hand man enter finger ring can drive it is more
Connecting rod follows, this design easily debugs from cumbersome wearing, working condition is rapidly entered and be detached from convenient for operator；
Controller 46 is powered by lithium battery group, and the data of acquisition are transmitted to user's by the bluetooth module on control panel 10
Cell phone application uses, and forwards valid data to WIFI or 4/5G is passed through after Information procession, controller is not necessarily to other external equipment branch
It holds, to work-yard without limitation, is very suitable to outdoor operations；
The preferably described executing agency 52 is steering engine group or motor group.
Working principle: in the easy donning formula multi-link structure remote operating controller assisted using the stereoscopic vision, manipulation
Person leans against the standing of controller 46 or sitting, it is desirable that and shoulder and master connecting-rod 1 flush, bluetooth, 5G/WIFI/4G on opening mobile phone 47, then
APP is opened, the real-time video of long-range left and right stereo format will be shown on mobile phone 47, mobile phone is inserted into foldable VR glasses at this time
48, after glasses are worn, the left hand two fingers casing 26 and right hand two fingers casing 17 that right-hand man is respectively protruding on controller 46 are vacateed,
So far, all preparations are completed, are controlled later by multiple groups connecting rod, rocking bar 25 and the button keyboard 18 in traction left and right arm
The relay group 51 of distal end processed and executing agency 52, during usage, controller information stream include control stream and multimedia
Two kinds of stream, control stream are initiated by controller 46, are communicated by bluetooth and cell phone application, pass through 5G/WIFI/4G network after APP processing
It is transmitted to the processor 49 of distal end, processor 49 parses rear-guard motor type relay group 51 and executing agency 52 acts, media stream side
To on the contrary, provide video flowing to processor 49 by the binocular solid camera 50 of distal end, pass through 5G/WIFI/ after combined audio stream
4G network signal sends cell phone application to, and stereoscopic vision and audio-frequency information is presented in cell phone application in time.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of easy donning formula multi-link structure remote operating controller of stereoscopic vision auxiliary, including tripod (36), controller
(46), it mobile phone (47), foldable VR glasses (48), processor (49), binocular solid camera (50), relay group (51) and holds
Row structure (52), it is characterised in that: the controller (46) is provided with master connecting-rod (1), and the left and right sides of master connecting-rod (1) is pacified respectively
Equipped with left shoulder connecting rod (2) and right shoulder connecting rod (37), and the lower part of left shoulder connecting rod (2) is equipped with upper left arm link (3), and left upper arm connects
The lower part of bar (3) is equipped with lower-left arm link (4), and the lower part of lower-left arm link (4) is equipped with left finesse connecting rod (5), left finesse
The lower part of connecting rod (5) is equipped with left hand palm connecting rod (6), and the lower part of right shoulder connecting rod (37) is equipped with upper right arm link (38),
The lower part of upper right arm link (38) is equipped with bottom right arm link (39), and the lower part of bottom right arm link (39) is equipped with right finesse connecting rod
(40), the lower part of right finesse connecting rod (40) is equipped with right hand palm connecting rod (41)；The outside of the master connecting-rod (1) is equipped with main shell
(13), and the upper end of tripod (36) is mounted on the backs of main shell (13), and the outside of left shoulder connecting rod (2) is equipped with left shoulder
Portion's shell (42), the outside of upper left arm link (3) are equipped with left upper arm shell (43), and the outside of lower-left arm link (4) is equipped with
The outside of lower-left arm shell (44), left finesse connecting rod (5) and left hand palm connecting rod (6) is equipped with left hand palm wrist shell (45), simultaneously
The outside of right shoulder connecting rod (37) is equipped with right shoulder shell (12), and the outside of upper right arm link (38) is equipped with right upper arm shell
(9), the outside of bottom right arm link (39) is equipped with bottom right arm shell (8), and right finesse connecting rod (40) and the right hand slap connecting rod (41)
Outside is equipped with right hand palm wrist shell (7).
2. a kind of easy donning formula multi-link structure remote operating controller of stereoscopic vision auxiliary according to claim 1,
It is characterized in that: micro- by the 4th miniature flange steering wheel (22) and the 6th between the lower-left arm link (4) and left finesse connecting rod (5)
Type Hall angular transducer (29) is hinged, and miniature by the 6th between left finesse connecting rod (5) and left hand palm connecting rod (6)
Flange steering wheel (27) and the 5th mini Hall angular transducer (28) are hinged.
3. a kind of easy donning formula multi-link structure remote operating controller of stereoscopic vision auxiliary according to claim 1,
It is characterized in that: the 4th mini Hall angular transducer (23) and the 5th miniature flange rudder being installed on left hand palm connecting rod (6)
Disk (24), and the end of left hand palm connecting rod (6) is provided with left hand two fingers casing (26), and the installation of left hand two fingers casing (26)
There are rocking bar (25).
4. a kind of easy donning formula multi-link structure remote operating controller of stereoscopic vision auxiliary according to claim 1,
It is characterized in that: by the first mini Hall angular transducer (14) between the bottom right arm link (39) and right finesse connecting rod (40)
It is hinged with the miniature flange steering wheel (21) of third, and pass through second between right finesse connecting rod (40) and right hand palm connecting rod (41)
Mini Hall angular transducer (15) and the first miniature flange steering wheel (16) are hinged on together.
5. a kind of easy donning formula multi-link structure remote operating controller of stereoscopic vision auxiliary according to claim 1,
It is characterized in that: the second miniature flange steering wheel (19) and third mini Hall angle sensor being installed on right hand palm connecting rod (41)
Device (20), and the end of right hand palm connecting rod (41) is provided with right hand two fingers casing (17), and right hand two fingers casing (17) is upper
It is equipped with button keyboard (18), while button keyboard (18) is using 3 × 3 matrix keyboards.
6. a kind of easy donning formula multi-link structure remote operating controller of stereoscopic vision auxiliary according to claim 1,
It is characterized in that: miniature by the 9th between the master connecting-rod (1) and left shoulder connecting rod (2), master connecting-rod (1) and right shoulder connecting rod (37)
Flange steering wheel (34) and the articulated connection of the 9th mini Hall angular transducer (35), and left shoulder connecting rod (2) and upper left arm link
(3), pass through the 8th miniature flange steering wheel (32) and the 8th mini Hall between right shoulder connecting rod (37) and upper right arm link (38)
Angular transducer (33) is hinged, and upper left arm link (3) and lower-left arm link (4), upper right arm link (38) and the right side
Hingedly connected by the 7th miniature flange steering wheel (30) and the 7th mini Hall angular transducer (31) between lower arm link (39)
It connects.
7. a kind of easy donning formula multi-link structure remote operating controller of stereoscopic vision auxiliary according to claim 1,
It is characterized in that: being connect between the tripod (36) and main shell (13) back skin by fixing bolt, and tripod (36)
The scalable setting of middle part standpipe.
8. a kind of easy donning formula multi-link structure remote operating controller of stereoscopic vision auxiliary according to claim 1,
It is characterized in that: control panel (10) and power module (11) being installed, and in control panel (10) in the upper end of the tripod (36)
Containing bluetooth serial ports transparent transmission module, contain at least 14 road A/D converters, is acquired containing at least 10 way switch amounts, and power supply mould
Block (11) includes lithium battery group and charge and discharge control module.
9. a kind of easy donning formula multi-link structure remote operating controller of stereoscopic vision auxiliary according to claim 1,
Be characterized in that: the controller (46) is communicated by the APP in bluetooth and mobile phone (47), and the APP on mobile phone (47) passes through network
Signal is transmitted to processor (49), and processor (49) parses rear-guard motor type relay group (51) and executes structure (52) movement, and double
Eye stereo camera shooting head (50) provides video flowing and gives processor (49), is transmitted after processor (49) combined audio stream by network signal
To the APP on mobile phone (47), stereoscopic vision and audio is presented in the APP on mobile phone (47) in time.
10. a kind of easy donning formula multi-link structure remote operating controller of stereoscopic vision auxiliary according to claim 1,
Be characterized in that: the executing agency (52) is steering engine group or motor group.
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