CN111515981A - Method for acquiring relative position data of limb movement - Google Patents
Method for acquiring relative position data of limb movement Download PDFInfo
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- CN111515981A CN111515981A CN202010406957.1A CN202010406957A CN111515981A CN 111515981 A CN111515981 A CN 111515981A CN 202010406957 A CN202010406957 A CN 202010406957A CN 111515981 A CN111515981 A CN 111515981A
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- limb
- displacement
- control system
- limbs
- follow
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- 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
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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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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- 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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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a method for acquiring relative position data of limb actions, wherein two ends of a plurality of displacement sensors are respectively fixed on the body and the limb of a person to be sampled or two ends of the displacement sensors are respectively fixed on the limb which is mutually connected by a joint, the displacement sensors are drawn to generate real-time displacement signals to be output to a control system through the motion of the limb, the motion range of the skeleton of a VR virtual skeleton system or the limb of a follow-up robot is defined by the initial state and the maximum displacement state of the limb in the control system, and the control system corresponds to the relative position of the limb actions according to the received displacement signals; and the displacement data in the limb movement process is transmitted to the control system in real time, and the control system is converted into a VR virtual skeleton system or a follow-up robot movement control unit in real time to complete the limb position control of the virtual skeleton or the limb position control of the follow-up robot. The invention determines the relative position of the limb by collecting the relative displacement of the limb and the pulse signal generated by the displacement, and has the advantages of simplicity, high efficiency and high precision.
Description
Technical Field
The invention relates to a method for acquiring relative position data of limb actions, and belongs to the technical field of VR and robot control.
Background
The development of follow-up robots and VR technology requires accurate and efficient acquisition of human body posture data, and the data is used as a signal to control limb movement or VR virtual skeleton movement of a robot. The attitude sensor is not accurate to gather and also is anti-interference, and angle sensor installation fixed knot constructs complicatedly, and there is the blind area in the distribution that the vision is caught and is limited by the camera. A simple structure, accurate acquisition and fast signal transmission mode needs to be designed.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides the method for acquiring the relative position data of the limb actions, which has the advantages of simple structure, accurate acquisition and high signal transmission speed.
In order to achieve the purpose, the technical means adopted by the invention is as follows: a method for collecting relative position data of limb actions comprises the steps that two ends of a plurality of displacement sensors are respectively fixed on a body and a limb of a person to be sampled, or two ends of the displacement sensors are respectively fixed on the limb which is mutually connected through a joint, the displacement sensors are pulled to generate real-time displacement signals to be output to a control system through the motion of the limb, in the control system, the motion range of a skeleton of a VR virtual skeleton system or the limb of a follow-up robot is defined according to the initial state and the maximum displacement state of the limb, and the control system corresponds to the relative position of the limb actions according to the received displacement signals; and the displacement data in the limb movement process is transmitted to the control system in real time, and the control system is converted into a VR virtual skeleton system or a follow-up robot movement control unit in real time to complete the limb position control of the virtual skeleton or the limb position control of the follow-up robot.
Furthermore, the displacement sensor is a pull rope displacement sensor or a pulse generator, and the pull rope displacement sensor or the pulse generator converts the displacement into a linear displacement signal or a pulse signal.
The beneficial technical effects of the invention are as follows: the relative position between the limbs or between the limbs and the body is determined by collecting the relative displacement of the limbs and the pulse signals generated by the displacement sensors of the relative displacement, and the determining method is simple, efficient and high in accuracy.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic view of a hand arm portion motion sampling configuration of the present invention;
fig. 2 is a schematic diagram of a shoulder joint movement sampling structure of the present invention.
In the figure: 1. stay cord displacement sensor, 2, stay cord, 3, protective equipment.
Detailed Description
As shown in fig. 1, in a method for collecting relative positional data of a limb movement, a protector is provided on an arm of a controller, a stay displacement sensor 1 attached to the protector is used, a stay 2 is connected to the stay displacement sensor 1 at one end, and is attached to the protector at the other end, and the movement of the arm of the controller changes the length of the stay in real time to generate a displacement.
In fig. 1, only one pull rope displacement sensor is shown, but actually, for the accuracy and real-time performance of the movement, a plurality of displacement sensors are arranged on the body and the limbs of a controller (such as the shoulder joint sampling shown in fig. 2), or two ends of each displacement sensor are respectively fixed on the limbs which are mutually connected through joints, and the displacement sensors are pulled to generate real-time displacement signals to be output to a control system through the movement of the limbs.
In the control system, firstly, the initial state and the maximum displacement state of the limb are used for defining the movement range of the limb of the VR virtual skeleton system or the follow-up robot, and then the control system corresponds to the relative position of the limb action according to the received displacement signal; and the displacement data in the limb movement process is transmitted to the control system in real time, and the control system is converted into a VR virtual skeleton system or a follow-up robot movement control unit in real time to complete the limb position control of the virtual skeleton or the limb position control of the follow-up robot.
According to the invention, the relative position between the limbs or between the limbs and the body is determined by acquiring the relative displacement of the limbs and the pulse signals generated by the displacement sensors of the relative displacement, and the determination method is simple and efficient and has high accuracy.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and various changes or modifications within the scope of the claims may be made by those skilled in the art without departing from the scope of the present invention.
Claims (2)
1. A method for acquiring relative position data of limb actions is characterized by comprising the following steps: fixing two ends of a plurality of displacement sensors on the body and the limbs of a person to be sampled respectively, or fixing two ends of the displacement sensors on the limbs connected with each other by joints respectively, drawing the displacement sensors to generate real-time displacement signals to be output to a control system through the movement of the limbs, defining the movement range of the bones of a VR virtual skeleton system or the limbs of a follow-up robot by the initial state and the maximum displacement state of the limbs in the control system, and enabling the control system to correspond to the relative positions of the actions of the limbs according to the received displacement signals; and the displacement data in the limb movement process is transmitted to the control system in real time, and the control system is converted into a VR virtual skeleton system or a follow-up robot movement control unit in real time to complete the limb position control of the virtual skeleton or the limb position control of the follow-up robot.
2. The method for collecting the relative position data of limb movements according to claim 1, wherein: the displacement sensor is a pull rope displacement sensor or a pulse generator, and the pull rope displacement sensor or the pulse generator converts displacement into a linear displacement signal or a pulse signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010406957.1A CN111515981A (en) | 2020-05-14 | 2020-05-14 | Method for acquiring relative position data of limb movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010406957.1A CN111515981A (en) | 2020-05-14 | 2020-05-14 | Method for acquiring relative position data of limb movement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111515981A true CN111515981A (en) | 2020-08-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010406957.1A Withdrawn CN111515981A (en) | 2020-05-14 | 2020-05-14 | Method for acquiring relative position data of limb movement |
Country Status (1)
| Country | Link |
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| CN (1) | CN111515981A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923051A (en) * | 2020-09-08 | 2020-11-13 | 杨博琛 | Control device for mechanical arm of unmanned aerial vehicle |
| CN112476456A (en) * | 2020-11-25 | 2021-03-12 | 浙江工业大学 | Arm-wing cooperative variant control system and control method for simulating bird prey |
-
2020
- 2020-05-14 CN CN202010406957.1A patent/CN111515981A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923051A (en) * | 2020-09-08 | 2020-11-13 | 杨博琛 | Control device for mechanical arm of unmanned aerial vehicle |
| CN112476456A (en) * | 2020-11-25 | 2021-03-12 | 浙江工业大学 | Arm-wing cooperative variant control system and control method for simulating bird prey |
| CN112476456B (en) * | 2020-11-25 | 2022-03-25 | 浙江工业大学 | Arm-wing cooperative variant control system and control method for simulating bird prey |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20201009 Address after: 234000 1211 science and technology building, No.8, Zhuyi Road, high tech Zone, Suzhou City, Anhui Province Applicant after: Suzhou selward Internet of things Technology Co.,Ltd. Address before: 234000 Anhui city of Suzhou Province, the Milky Way Yongqiao district two road Conrad Jinxiu Jiangnan District 57 building 108 Applicant before: Xu Hang |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200811 |
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| WW01 | Invention patent application withdrawn after publication |