Limb motion control system of fighting robot

Abstract

The present invention belongs to the field of robot technology, and in particular, relates to a fighting robot limb motion control system. The control system of the present invention includes: a robot, including an upper body component, a lower body component and a first control circuit; a robot control device, including a wearable component, an upper limb component and a second control circuit, one end of the upper limb component is rotatably connected to the wearable component, and the other end is provided with a control unit for driving the upper limb component to move under the action of an external force, and the upper limb component is used to detect the upper limb movement of the operator; the second control circuit generates a control signal according to the upper limb movement of the operator detected by the upper limb component and sends it to the first control circuit, and the first control circuit controls the upper limb skeleton movement of the robot according to the control signal. The present invention can control the robot according to the operator's limb movement, and is not easily affected by external interference.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a limb motion control system of a fighting robot. Background Art

[0002] At present, the control of robots is mostly done by key operation, for example, by pressing different physical keys or touching the virtual keys on the touch screen to send control commands to the robot, and the robot will perform the corresponding actions after receiving the corresponding control commands. However, there is a big difference between the actions controlled by the keys and the actions actually performed by the robot, and the correspondence between the two actions is weak, so it is very inconvenient to operate. For fighting competitive robots, the large difference between the control actions and the actual actions performed by the robot can easily reduce the user experience and make it difficult for users to immerse themselves in the robot fighting competition. In response to this, people have proposed a way to control the robot through the user's body movements, so that the robot can perform the same or similar actions as the operator's gestures. Since the actions performed by the robot are consistent with the operator's gestures, the operator's control of the robot is as natural as controlling his own body, which greatly improves the user's operating experience and allows users to fully immerse themselves in the robot fighting competition. In this regard, the patent with publication number CN107908288A proposes to use the 3D depth camera Kinect as an action acquisition device, use Kinect's skeleton tracking technology to obtain the spatial three-dimensional coordinates of 20 joints of the human body, select the left and right hands, left and right elbows, left and right feet, and left and right knee joints as the key points of action description, describe these 8 points as spatial vectors, and use the arrangement of the three-dimensional coordinates of the 8 feature vectors on the time axis to describe the operator's actions. However, when adopting the above technical solution, the required 3D depth camera collects a large amount of depth data, the amount of data to be processed is large, the speed of data acquisition and processing is slow, and the image processing operation process is complicated, so it is difficult to quickly and accurately identify the operator's gestures. In addition, there must be no occlusion of other objects between the 3D depth cameras, which limits the user's range of activities. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides a fighting robot limb motion control system, which is used to solve the technical problem that the existing robot system cannot accurately obtain the user's limb movements due to obstacles blocking the camera and the user.

[0004] The technical solution adopted by the present invention is:

[0005] In a first aspect, the present invention provides a fighting robot limb motion control system, the system comprising:

[0006] A robot, comprising an upper body component, a lower body component and a first control circuit, wherein the upper body component comprises an upper limb skeleton, and the lower body component is connected to the upper body component;

[0007] A robot control device, comprising a wearable device, an upper limb assembly and a second control circuit, wherein one end of the upper limb assembly is rotatably connected to the wearable device, and the other end thereof is provided with a control unit for driving the upper limb assembly to move under the action of an external force, the upper limb assembly is used to detect the upper limb movement of an operator, and the wearable device is used to be worn on the upper body of the operator;

[0008] The second control circuit generates a control signal according to the upper limb movement of the operator detected by the upper limb component and sends it to the first control circuit. The first control circuit controls the upper limb skeleton movement of the robot according to the control signal.

[0009] Preferably, the upper body component and the lower body component are rotatably connected, and the robot control device also includes an upper body rotation detection device and a lower body rotation detection device, the upper body rotation detection device is used to detect the rotation of the operator's upper body, and the lower body rotation detection device is used to detect the rotation of the operator's lower body, the second control circuit generates a control signal based on the signals detected by the upper body rotation detection device and the lower body rotation detection device and sends it to the first control circuit, and the first control circuit controls the movement of the upper body component of the robot relative to the lower body component based on the control signal.

[0010] Preferably, the robot further comprises a strike detection device, wherein the strike detection device is electrically connected to the first control circuit, and the strike detection device is used to detect strikes received by the robot.

[0011] Preferably, the first control circuit judges the striking effect according to the detected strikes received by the robot and obtains a judgment result.

[0012] Preferably, the robot is provided with a striking effect display device, and the first control circuit controls the striking effect display device to perform an operation of displaying the striking effect according to the judgment result.

[0013] Preferably, the striking effect display device includes a lighting effect display device and / or a sound effect display device and / or a vibration effect display device, the lighting effect display device is used to generate lights corresponding to the evaluation results, the sound effect display device is used to generate sounds corresponding to the evaluation results, and the vibration effect display device is used to generate vibrations corresponding to the evaluation results.

[0014] Preferably, the robot control device includes a striking effect feedback device, and the striking effect feedback device is electrically connected to the second control circuit, and the second control circuit is used to control the striking effect feedback device to produce a corresponding striking feedback effect according to the signal detected by the striking detection device.

[0015] Preferably, the striking effect feedback device is a lighting display device and / or a sound effect display device and / or a vibration effect display device and / or a resistance applying device;

[0016] The light effect display device is used to generate light corresponding to the striking signal, the sound effect display device is used to generate sound corresponding to the striking signal, the vibration effect display device is used to generate vibration corresponding to the striking signal, and the resistance applying device is used to apply resistance corresponding to the striking signal to hinder the movement of the upper limb component.

[0017] Preferably, the upper limb assembly includes a plurality of upper limb parts and an angle detection device connected in sequence, wherein a rotation joint is formed between two adjacent upper limb parts in a rotatable connection, and the angle detection device is used to detect the rotation angle of each rotation joint.

[0018] Preferably, the upper limb component includes a shoulder component, a first upper arm component, a second upper arm component, a forearm component and a hand component, one end of the shoulder component forms a first rotation joint with the wearable component, and the other opposite end forms a second rotation joint with the first upper arm component, one end of the first upper arm component away from the shoulder component forms a rotatable third rotation joint with the second upper arm component, one end of the second upper arm component away from the first upper arm component forms a rotatable fourth rotation joint with the forearm component, one end of the forearm component away from the second upper arm forms a fifth rotation joint with the hand component, and the control part is arranged at one end of the hand component away from the forearm component.

[0019] Beneficial effect: The fighting robot limb motion control system of the present invention wears the control device in the robot system on the operator through the wearable piece, and the upper limb of the operator can drive the upper limb component to follow the upper limb movement of the operator through the control part. The upper limb component detects the movement of the upper limb of the operator in the process of following the movement, and the second control circuit generates a control signal according to the detected upper limb movement, and sends the control signal to the first control circuit, and the first control circuit controls the upper limb skeleton movement of the robot according to the control signal. Since the robot system of the present invention does not need to obtain the depth of field image containing the upper limb movement of the operator using the camera, no matter where the operator is located, there will be no problem that the upper limb movement cannot be recognized or is not accurately recognized due to the obstruction of obstacles between the camera and the operator. In this way, the operator's range of activities when controlling the robot will not be subject to any restrictions. And since the robot control device of this embodiment does not need to obtain the image of the upper limb movement of the operator, it will not be disturbed by the environment, and the recognition is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings required for use in the embodiment of the present invention will be briefly introduced below. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work, and these are all within the protection scope of the present invention.

[0021] Figure 1 It is a structural block diagram of the fighting robot limb motion control system of the present invention;

[0022] Figure 2 A three-dimensional structural diagram of the robot control device of the present invention;

[0023] Figure 3 is a three-dimensional structural diagram of the joint module of the present invention;

[0024] Figure 4 is a cross-sectional view of a joint module of the present invention;

[0025] Figure 5 A three-dimensional structural diagram of the upper limb assembly of the present invention;

[0026] Figure 6 A three-dimensional structural diagram of the shoulder component of the present invention;

[0027] Figure 7 A three-dimensional structural diagram of the hand component of the present invention;

[0028] Figure 8 The three-dimensional structure diagram of the assembled forearm component and hand component of the present invention;

[0029] Fig. 9A schematic diagram of the three-dimensional structure of the robot controlled by the present invention;

[0030] Fig.10 This is a schematic diagram of the fighting robot controller controlling the fighting robot in the present invention.

[0031] Parts and their numbers in the figure:

[0032] Wearable component 1, upper limb component 2, shoulder component 21, first connecting part 211, second connecting part 212, bending part 213, first upper arm component 22, second upper arm component 23, forearm component 24, hand component 25, wrist connecting part 251, middle connecting part 252, handle 253, button 254, angle detection device 3, disk 31, detection chip 32, joint module 4, first component 41, second component 42, bearing 43, upper body rotation detection device 5, lower body rotation detection device 6, notch 7, upper body component 81, upper limb skeleton 811, upper limb shoulder 8111, upper limb first upper arm 8112, upper limb second upper arm 8113, upper limb forearm 8114, upper limb hand 8115, first joint 812, second joint 813, third joint 814, fourth joint 815, fifth joint 816, lower body component 82. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described in conjunction with the drawings in the embodiment of the present invention. It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. In the description of the present invention, it should be understood that the orientation or position relationship indicated by the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device. In the absence of further restrictions, the elements defined by the phrase "comprising..." do not exclude the existence of other identical elements in the process, method, article or device comprising the elements. If there is no conflict, the embodiments of the present invention and the various features in the embodiments can be combined with each other, all within the protection scope of the present invention.

[0034] Example 1

[0035] like Figure 1 and Fig. 9 As shown, this embodiment provides a fighting robot limb motion control system, including a robot and a robot control device;

[0036] The robot includes an upper body component, a lower body component and a first control circuit, wherein the upper body component includes an upper limb skeleton; wherein the first control circuit can be installed in the upper body component or in the lower body component, without limitation here.

[0037] like Figure 2 As shown, the robot control device in this embodiment includes a wearable component 1, an upper limb component 2 and a second control circuit, one end of the upper limb component 2 is rotatably connected to the wearable component 1, and the other end opposite thereto is provided with a control unit for driving the upper limb component 2 to move under the action of an external force, the upper limb component 2 is used to detect the upper limb movements of the operator, and the wearable component 1 is used to be worn on the upper body of the operator;

[0038] The wearable component 1 in the robot control device is used to be worn on the upper body of the human body. The operator can fix the robot control device in this embodiment to the operator's body by wearing the wearable component 1 on the back. In specific implementation, the wearable component 1 can be fixed to the user's upper body through the user's waist and / or shoulder by a shoulder strap and / or a waist belt. The upper limb component 2 in the robot control device is used to move synchronously with the user's upper limbs under the control of the user.

[0039] As an optional but advantageous implementation, the upper limb assembly 2 in this embodiment is divided into two groups, namely, a first upper limb assembly 2 and a second upper limb assembly 2. The two groups of upper limb assemblies 2 are respectively used to detect the movement of the two upper limbs of the operator. In other implementations, the upper limb assembly 2 may also be of any other number, such as one group or more than two groups, which is not limited here.

[0040] In this embodiment, the upper limb of the operator can drive the upper limb component 2 to follow the movement of the upper limb of the operator through the control unit, and the upper limb component 2 detects the movement of the upper limb of the operator in the process of following the movement. Since the robot control device in this embodiment connects one end of the upper limb component 2 to the wearable component 1, and the wearable component 1 is worn on the operator, the upper limb component 2 in the wearable gesture recognition device of this embodiment does not need to be directly worn on the upper limb of the user to achieve a relatively fixed position with the upper body of the operator. Since the upper limb component 2 and the wearable component 1 are rotatably connected, the upper limb component 2 will not cause any impact on the upper limb of the user when following the movement of the upper limb of the user, and the weight of the device is transferred to the back of the user by the wearable component 1, and the upper limb of the user is almost not subjected to force. Therefore, during the control process, the upper limb of the user can move and exert force naturally.

[0041] The second control circuit generates a control signal according to the upper limb movement of the operator detected by the upper limb component 2 and sends it to the first control circuit. The first control circuit controls the upper limb skeleton movement of the robot according to the control signal.

[0042] In this embodiment, the upper limb component 2 sends the detected data related to the operator's upper limb movement to the second control circuit, the second control circuit processes the data, identifies the user's upper limb movement, and then generates corresponding control signals according to the identified user's upper limb movement, and sends these control signals to the first control circuit set in the robot. The first control signal controls the movement of the robot's upper limb skeleton according to the received control signal, so that the movement of the robot's upper limb skeleton is the same or similar to the movement of the operator.

[0043] Since the present embodiment uses the following motion of the upper limb assembly 2 to detect the upper limb motion of the operator, it is not necessary to obtain a depth of field image containing the upper limb motion of the operator using a camera. Therefore, no matter where the operator is located, there will be no problem of upper limb motion being unable to be recognized or inaccurately recognized due to obstacles between the camera and the operator. In this way, the operator's range of motion when controlling the robot will not be restricted in any way. And since the robot control device of the present embodiment does not need to obtain an image of the upper limb motion of the operator, it will not be disturbed by the environment, and the recognition will be more accurate.

[0044] In this embodiment, the upper limb assembly 2 includes a plurality of upper limb parts connected in sequence and an angle detection device 3, wherein two adjacent upper limb parts are rotatably connected to form a rotation joint, and the angle detection device 3 is used to detect the rotation angle of each rotation joint. The rotatable connection between the two adjacent upper limb parts refers to the connection between the two adjacent upper limb parts in a form that can rotate around a certain axis.

[0045] The control device in this embodiment utilizes the rotation between two adjacent upper limb components to simulate the rotation relationship between two adjacent parts in the joint of the human upper limb. After the operator wears the control device in this embodiment, the operator's hand holds the control part at the end of the upper limb component 2, and the operator drives the operator's hand to move through the movement of the upper limb, and the operator's hand drives the upper limb component 2 to move through the control part. During the movement of the upper limb component 2, the various upper limb components rotate relative to each other, which just simulates the mutual movement of the relevant parts at both ends of the operator's upper limb joint, so that the upper limb components can naturally follow the operator's upper limb to move synchronously.

[0046] As one of the implementation modes, the angle detection device 3 in this embodiment can be set at the position where two adjacent upper limb parts are connected, and these angle detection devices 3 are used to detect the relative rotation angle between two adjacent upper limb parts. In this embodiment, at least one angle detection device 3 is configured for each rotation joint formed by the rotatable connection between the upper limb parts, and these angle detection devices 3 are used to detect the rotation angle of each joint. Since each upper limb part is connected in sequence, the distance between two adjacent rotation joints is determined. When the angle detection device 3 detects the rotation angle of each joint on the upper limb assembly 2, the motion state of the entire upper limb assembly 2 can be calculated in combination with the length of each upper limb part. Since the upper limb parts follow the upper limb movement of the operator under the control of the operator, the motion state of the upper limb of the operator can be obtained through the motion state of the upper limb assembly 2. Since each limb part of the robot's upper limb and each upper limb part of the controller upper limb assembly 2 are one-to-one corresponding, the joints between the adjacent upper limb parts of the robot and the rotation joints between the adjacent upper limb parts of the upper limb assembly 2 are also one-to-one corresponding, so each joint of the robot can be controlled to rotate according to the angle of the corresponding rotation joint.

[0047] After the robot control device is manufactured, the length of the upper limb components usually does not change, and the positional relationship of each upper limb component is relatively fixed after being connected to each other, and there are few variables that need to be updated during the movement. In actual operation, it is only necessary to detect the angle data of each joint rotation on the upper limb component 2 in real time. Therefore, the amount of data required for real-time collection when performing the upper limb movement detection of the operator in this embodiment is very small, the data transmission is fast, and the data processing amount is small. At the same time, since the positional relationship of each upper limb component is relatively fixed after being connected to each other, it will not be affected by external conditions and will not be easily disturbed by the external environment like other human body motion recognition methods, so the collected data is highly accurate, and the accuracy of motion recognition is also correspondingly improved.

[0048] Since the operator can operate the upper limb assembly 2 in the robot control device to follow the upper limb movement of the operator, the angle detection device 3 detects the angle of each joint movement in the upper limb assembly 2 to calculate the motion state of the upper limb assembly 2, thereby detecting the motion state of the upper limb of the operator, so the control device in this embodiment can quickly and accurately detect the fast and complex motion state of the upper limb of the operator through a small amount of detection data, and is not easily disturbed by the external environment. In a complex robot fighting competitive environment, the control device of this embodiment can quickly and accurately obtain the movement of the upper limb of the operator, so that the operator can control the movement of the robot in a timely and accurate manner, and because the upper limb assembly 2 is not directly worn on the upper limb of the operator, the upper limb of the operator can move freely. In this way, the operator is just like participating in the competitive fighting in person when controlling the robot competitive fighting, which brings a more realistic game experience to the operator, so that the operator can be completely immersed in the fun of competitive fighting.

[0049] In order to control the rotation of the robot's waist joint according to the rotation of the operator's waist, the upper body component and the lower body component in this embodiment are rotatably connected. Figure 2 As shown, the robot control device also includes an upper body rotation detection device 5 and a lower body rotation detection device 6, the upper body rotation detection device 5 is used to detect the rotation of the operator's upper body, and the lower body rotation detection device 6 is used to detect the rotation of the operator's lower body. The second control circuit generates a control signal based on the signals detected by the upper body rotation detection device 5 and the lower body rotation detection device 6 and sends it to the first control circuit. The first control circuit controls the upper body component of the robot to move relative to the lower body component according to the control signal. The method for controlling the robot according to the waist rotation operation includes the following steps:

[0050] S1: Obtaining the current rotation amount of the human waist according to the current first rotation angle and the second rotation angle;

[0051] The first rotation angle is the angle of rotation of the upper body of the human body on the horizontal plane, and the second rotation angle is the angle of rotation of the lower body of the human body on the horizontal plane. Before detection, the starting angular position of the rotation of the upper body of the human body and the starting angular position of the rotation of the lower body are set. It is assumed that the starting angular position of the rotation of the upper body of the human body is C0, and the starting angular position of the rotation of the lower body is D0. The relevant detection device detects that the current angular position of the upper body of the human body is C j , the angular position of the lower body is D j , then the current first rotation angle is C j -C0, the current second rotation angle is D j -D0. The amount of rotation of the human waist f j =D j -D0-(Cj -C0).

[0052] S2: Obtain the previous rotation amount of the human waist according to the previous first rotation angle and the second rotation angle;

[0053] In this embodiment, the first rotation angle and the second rotation angle are continuously sampled. The current first rotation angle and the second rotation angle are the most recently acquired angles. The first rotation angle and the second rotation angle acquired by the previous sampling are the previous first rotation angle and the second rotation angle. Assume that the angular position of the upper body of the human body detected by the relevant detection device in the previous time is C j-1 , the angular position of the lower body is D j-1 , then the current first rotation angle is C j-1 -C0, the current second rotation angle is D j-1 -D0, the previous waist rotation amount f j-1 =D j-1 -D0-(C j-1 -C0).

[0054] S3: performing low-pass filtering on the current human waist rotation amount and the previous human waist rotation amount to obtain an offset value of the human waist rotation;

[0055] The low-pass filtering method mainly includes the following steps:

[0056] S31: Obtain a filter coefficient K; the filter coefficient can be determined through experiments.

[0057] S32: According to the formula f=(1-K)×f j +K×f j-1 The offset value f of the human waist rotation is calculated.

[0058] This embodiment can filter out the high-frequency jitter of the sensor through the aforementioned filtering method, thereby reducing the amount of data processing, improving the data processing speed and the detection accuracy of the human waist rotation.

[0059] S4: Determine the direction and angle of rotation of the human waist according to the magnitude of the offset value.

[0060] When this step is implemented, first determine the magnitude relationship between the offset value f and 0. If the offset value f is less than 0, then determine whether the offset value f is less than -180. If the offset value f is less than -180 degrees, the direction of movement is positive, and the angle of rotation of the human waist is f+360. If the offset value f is greater than or equal to -180 degrees, the direction of movement is negative, and the angle of rotation of the human waist is |f|. If the offset value f is greater than or equal to 0, then determine whether the offset value f is greater than or equal to 180. If the offset value f is greater than or equal to 180 degrees, the direction of movement is negative, and the displacement is |f-360|. If the offset value f is greater than or equal to 180 degrees, the direction of movement is positive, and the displacement is f.

[0061] S5: The direction and angle of the human waist rotation control the robot waist rotation.

[0062] In robot combat, the robot controlled by the operator may be hit by other robots or other game props. In order to improve the entertainment value of robot combat, such hitting is often used as one of the basis for game scoring in the robot competition rules.

[0063] In this regard, in this embodiment, the robot further includes a strike detection device, which is electrically connected to the first control circuit and is used to detect strikes received by the robot.

[0064] According to an optional but advantageous implementation, in this embodiment, the strike detection device is a MEMS silicon single crystal capacitive sensor. In specific implementation, the strike detection device can be installed at the corresponding part of the robot, and one or more strike detection devices can be set according to the structural area and position of the detected part. For example, one or more strike detection devices can be set at the robot's chest, back, limbs, etc.

[0065] When the strike detection device detects that the robot is struck, the detected data is sent to the first control circuit, and the first control circuit judges the striking effect according to the detected strikes suffered by the robot and obtains a judgment result.

[0066] The first control circuit can judge the striking effect according to a predefined rule, and the result of the judgment can be in the form of a score. For example, different scores can be obtained according to different striking positions, or different scores can be obtained according to different striking strengths, or different scores can be obtained by combining different striking positions and different striking strengths.

[0067] In order to show the effect of the robot being hit, in this embodiment, the robot is provided with a hitting effect display device, and the first control circuit controls the hitting effect display device to perform the operation of displaying the hitting effect according to the judgment result. The hitting display effect includes but is not limited to a lighting effect display device, a sound effect display device, and a vibration effect display device. The device for performing the operation of displaying the hitting effect can be performed by one hitting effect display device, or by multiple hitting effect display devices. The first control circuit can also select the hitting effect display device for performing the operation according to the judgment result. For example, different scores of different judgment results correspond to the selection of different hitting effect display devices to perform the operation.

[0068] When the striking effect display device for performing the operation uses a light effect display device, the light effect display device will generate light corresponding to the evaluation result. The light display device can be an LED light installed on the wearable robot control device, and the first control circuit controls the LED light to generate different light effects according to the signal that the robot is struck.

[0069] The aforementioned light display device can be one or more. When there are multiple light display devices. As an optional but advantageous implementation, multiple light display devices can be installed at corresponding parts of the robot respectively. In this way, when one or several parts of the robot are hit, the first control circuit can control the light display device set at the corresponding part of the robot to produce a light effect. The aforementioned light effects include but are not limited to: the light turns on when the robot is hit; the light changes in intensity when the robot is hit; the light flashes at a fixed or non-fixed frequency when the robot is hit; lights of different brightness are generated according to different hitting strengths; different numbers of light sources are lit according to different hitting strengths; lights with different flashing frequencies are generated according to different hitting strengths. This embodiment can also make any combination of the aforementioned light effects.

[0070] When the striking effect display device for performing the operation uses a sound effect display device, the sound effect display device will generate a sound corresponding to the judgment result. The sound effect display device can be a speaker installed on the wearable robot control device, and the first control circuit controls the speaker to generate different sounds according to the signal that the robot is struck. The first control circuit can control the sound effect display device to emit different sounds according to the different parts and / or different strengths of the strike on the robot.

[0071] When the striking effect display device for performing the operation uses a vibration effect display device, the vibration effect display device will generate vibrations corresponding to the striking signal. The vibration effect display device can be a vibration motor installed on a wearable robot, and the first control circuit controls the vibration motor to generate different vibrations according to the signal that the robot is struck. For example, vibrations of different amplitudes and / or frequencies and / or times are generated according to different striking forces. The vibration effect can be continuous vibrations over a period of time, or intermittent vibrations over a period of time.

[0072] The aforementioned vibration effect display device may be one or more. When there are more than one vibration effect display device. As an optional but advantageous implementation, the multiple vibration effect display devices may be installed at corresponding parts of the robot. In this way, when one or more parts of the robot are hit, the first control circuit may control the vibration effect display device installed at the corresponding part of the robot to produce a vibration effect.

[0073] This embodiment also provides a striking effect feedback device on the robot control device worn by the operator, so that the operator can personally feel that the robot has been struck. The striking effect feedback device is electrically connected to the second control circuit, the first control circuit sends the striking signal detected by the striking detection device to the second control circuit, and the second control circuit controls the striking effect feedback device to produce a corresponding striking feedback effect according to the signal detected by the striking detection device.

[0074] As an optional but advantageous implementation, in this embodiment, the striking effect feedback device is arranged at a position of the control device corresponding to the controlled robot. Vibration devices can be respectively installed on the shoulder part 21, the first upper arm part 22, the second upper arm part 23, the lower arm part 24, the hand part 25 and the wearable part 1 of the control device. In this way, the second control circuit can control the striking effect feedback device at the corresponding position of the control device to produce a striking feedback effect according to the part of the robot struck detected by the striking detection device.

[0075] For example, when the robot's hand is hit, the control circuit controls the hitting effect feedback device located at the position of the hand component 25 of the control device to produce a corresponding hitting feedback effect; for example, when the robot's forearm is hit, the control circuit controls the hitting effect feedback device located at the position of the forearm component 24 of the control device to produce a corresponding hitting feedback effect; for example, when the lower part of the robot's upper arm is hit, the control circuit controls the hitting effect feedback device located at the position of the second upper arm component 23 of the control device to produce a corresponding hitting feedback effect; for example, when the upper part of the robot's upper arm is hit, the control circuit controls the hitting effect feedback device located at the position of the first upper arm component 22 of the control device to produce a corresponding hitting feedback effect; for example, when the robot's shoulder is hit, the control circuit controls the hitting effect feedback device located at the position of the shoulder component 21 of the control device to produce a corresponding hitting feedback effect; for example, when the robot's chest or back is hit, the control circuit controls the hitting effect feedback device located on the wearable component 1 of the control device to produce a corresponding hitting feedback effect.

[0076] In this embodiment, the striking effect feedback device includes but is not limited to a lighting display device, a sound effect display device, a vibration effect display device, and a resistance applying device; wherein the lighting effect display device is used to generate light corresponding to the striking signal, the sound effect display device is used to generate sound corresponding to the striking signal, the vibration effect display device is used to generate vibration corresponding to the striking signal, and the resistance applying device is used to apply resistance corresponding to the striking signal to hinder the movement of the upper limb component 2.

[0077] Among them, the lighting effect display device can produce corresponding lighting effects according to the location of the hit and the strength of the hit. For example, the light turns on when the robot is hit; the light changes in intensity when the robot is hit; the light flashes at a fixed or non-fixed frequency when the robot is hit; lights of different brightness are generated according to different hitting strengths; different numbers of light sources are lit according to different hitting strengths; lights of different flashing frequencies are generated according to different hitting strengths. This embodiment can also make any combination of the aforementioned lighting effects. Among them, the lighting display device can be an LED light installed on a wearable robot control device, and the control circuit controls the LED light to produce different lighting effects according to the signal that the robot is hit.

[0078] Among them, the sound effect display device can produce different sounds according to the hitting position and the hitting strength.

[0079] The vibration effect display device is used to generate vibration corresponding to the striking signal, and the vibration effect display device can generate different vibration effects according to the strength of the strike received by the robot. For example, vibrations of different amplitudes and / or frequencies and / or times can be generated according to different striking strengths. The vibration effect can be continuous vibration for a period of time, or intermittent vibration for a period of time.

[0080] The resistance applying device is used to apply resistance corresponding to the hitting signal to hinder the movement of the upper limb assembly 2. When the upper limb skeleton hand of the robot hits, the second control circuit controls the resistance applying device at the corresponding position of the controller upper limb assembly 2 to apply resistance to hinder the movement of the upper limb assembly 2 according to the position and / or strength of the robot being hit, so that after the robot is hit, the operator cannot use body movements to control the movement of the robot as flexibly as when the robot is not hit, so that the operator can truly feel the sluggish movement after being attacked in competitive fighting.

[0081] As an optional but advantageous implementation, in this embodiment, the resistance applying device is provided at the position of each joint of the upper limb assembly 2 of the control device. When the robot is hit, the second control circuit controls the resistance applying device of the corresponding joint on the upper limb assembly 2 to apply resistance to hinder the rotation of the joint according to the hit part of the robot.

[0082] As an optional but advantageous implementation, in this embodiment, the resistance applying device can be a servo motor installed at each joint position, wherein the housing of the servo motor is connected to one of the adjacent upper limb parts, and the output end of the servo motor is connected to the other of the adjacent upper limb parts. In specific implementation, the parameters of the servo motor applied resistance torque can be controlled according to the impact detected by the robot. For example, the size of the resistance applied by the servo motor to the rotating joint to hinder the rotation of the joint and the time of applying the resistance can be controlled according to the strength of the impact detected by the robot.

[0083] like Figure 3 and Figure 4 As shown, as an optional but advantageous embodiment, in this embodiment, the adjacent upper limb parts are rotatably connected through a joint module 4, the joint module 4 includes a first component 41, a second component 42 and a bearing 43, the first component 41 is fixedly connected to the outer ring of the bearing 43, the second component 42 is fixedly connected to the inner ring of the bearing 43, and the angle detection device 3 is installed on the joint module 4. The first component 41 is fixedly connected to one of the two adjacent upper limb parts, and the second component 42 is fixedly connected to the other of the two adjacent upper limb parts.

[0084] The angle detection device 3 may be a magnetic encoder, which includes a disk 31 and a detection chip 32. One of the detection chip 32 and the disk 31 is fixedly connected to the first member 41, and the other is fixedly connected to the second member 42. When two adjacent upper limb components rotate relative to each other, the first member 41 and the second member 42 are driven to rotate relative to each other. The detection chip 32 senses the magnetic field change caused by the transmission of the disk 31 and generates a corresponding electrical signal, thereby obtaining the rotation data between the two adjacent upper limb components.

[0085] like Figure 5 As shown, as an optional but advantageous embodiment, in this embodiment, the upper limb component includes a shoulder component 21, a first upper arm component 22, a second upper arm component 23, a forearm component 24 and a hand component 25, one end of the shoulder component 21 forms a first rotation joint with the wearable component 1, and the other end opposite to it forms a second rotation joint with the first upper arm component 22, one end of the first upper arm component 22 away from the shoulder component 21 forms a rotatable third rotation joint with the second upper arm component 23, one end of the second upper arm component 23 away from the first upper arm component 22 forms a rotatable fourth rotation joint with the forearm component 24, one end of the forearm component 24 away from the second upper arm forms a fifth rotation joint with the hand component 25, and the control unit is arranged at one end of the hand component 25 away from the forearm component 24.

[0086] See also Figure 5 , wherein the shoulder component 21 in the upper limb assembly 2 corresponds to the upper limb shoulder 8111 of the robot, the second upper arm component 23 in the upper limb assembly 2 corresponds to the second upper arm 8113 of the robot, the forearm component 24 in the upper limb assembly 2 corresponds to the upper limb forearm 8114 of the robot, and the hand component 25 in the upper limb assembly 2 corresponds to the upper limb hand 8115 of the robot.

[0087] The first rotational joint, the second rotational joint, the third rotational joint, the fourth rotational joint and the fifth rotational joint in the upper limb assembly 2 correspond one-to-one to the first joint 812, the second joint 813, the third joint 814, the fourth joint 815 and the fifth joint 816 of the robot respectively.

[0088] Each upper limb component in the upper limb assembly 2 corresponds to a part of the upper limb of the human body. For example, the shoulder component 21 corresponds to the shoulder of the human body and is used to follow the shoulder movement of the operator. The structure composed of the first upper arm component 22 and the second upper arm component 23 corresponds to the upper arm of the human body and is used to follow the upper arm movement of the operator. The forearm component 24 corresponds to the forearm of the human body and is used to follow the forearm movement of the operator. The hand component 25 corresponds to the hand of the human body and is used to follow the hand movement of the operator.

[0089] like Figure 6 As shown, in order to realize the free rotation of the shoulder part 21, the present embodiment sets two rotation joints on the shoulder part 21, one rotation joint is located between the shoulder part 21 and the wearable part 1, and the other rotation joint is located between the shoulder part 21 and the first upper arm part 22. Through the cooperation of the above two joints, the first upper arm part 22 can realize more degrees of freedom of rotation relative to the wearable part 1 through the shoulder part 21, so that it can be consistent with the rotation of the human shoulder joint. Since the two rotation joints of the shoulder part 21 are set separately in the present embodiment, the rotation between the two rotation joints of the shoulder part 21 does not affect each other when the shoulder part 21 follows the movement of the human shoulder. The shoulder part 21 includes a first connecting part 211, a second connecting part 212, and a bending part 213 which are connected in sequence, one of the first connecting part 211 and the second connecting part 212 is rotatably connected to the wearable part 1, and the other is connected to the first upper arm part 22.

[0090] In order to allow the structure composed of the first upper arm component 22 and the second upper arm component 23 to rotate freely relative to the shoulder component 21, thereby keeping consistent with the rotation of the upper arm joint of the human body, this embodiment forms a second joint between the first upper arm component 22 and the second upper arm component 23 on the basis of forming a rotation joint with the shoulder component 21. Through the cooperation of the above two joints, the structure composed of the first upper arm component 22 and the second upper arm component 23 can accurately follow the upper arm movement of the human body. Since the above two rotation joints are set separately, the rotation of the two rotation joints of the structure composed of the first upper arm component 22 and the second upper arm component 23 does not affect each other when following the upper arm movement of the human body.

[0091] like Figure 7As shown, in this embodiment, the hand component 25 includes a wrist connection part 251, an intermediate connection part 252 and a handle 253, wherein the wrist connection part 251, the intermediate connection part 252 and the handle 253 form a semi-enclosed structure, and the control part is arranged on the handle 253. The wrist connection part 251 is rotatably connected to the forearm component 24, so that the hand component 25 can flexibly rotate synchronously with the user's wrist. The intermediate connection part 252 is extended from the wrist connection part 251 toward the direction close to the wearable component 1 for a distance and then connected to the handle 253. The wrist connection part 251, the middle connection part 252 and the handle 253 form a semi-enclosed structure that is roughly "U" shaped. The user's palm can be placed between the wrist connection part 251 and the handle 253 from the notch 7 of the semi-enclosed structure, and then the handle 253 can be held. This can not only facilitate the user to put the hand into the holding position or take the hand out of the holding position while the hand part 25 can be flexibly rotated with the user's wrist, but also enable the user to hold the control part to achieve accurate positioning between the user's upper limb and the upper limb assembly 2, so that the upper limb assembly 2 can follow the operator's upper limb to move synchronously without affecting the user's upper limb movement. As an optional but advantageous embodiment, in this embodiment, a plurality of buttons 254 are provided on the handle 253, and the buttons 254 are used to generate corresponding electrical signals when receiving presses, and the control circuit sends control signals to the robot according to the electrical signals generated by the buttons 254. In this embodiment, in addition to controlling the movement of the robot's upper limbs through the movement of each joint of the upper limb assembly 2, and controlling the rotation of the robot's waist through the first detection device and the second detection device, the operator can also control the robot to perform more actions through the various buttons 254 set on the handle 253.

[0092] like Figure 8As shown, as an optional but advantageous embodiment, the end of the forearm component 24 close to the hand component 25 is bent from the first direction to the second direction and extended along the second direction to the first predetermined length before being connected to the hand component 25. The end of the forearm component 24 close to the hand component 25 is surrounded by the wrist connecting part 251 and the middle connecting part 252 to form a semi-enclosed structure with a notch 7 facing the wearable component 1. The first predetermined length can be determined based on the distance between the operator's arm and the upper limb component 2, so that the operating arm will not be interfered by the upper limb component 2 when moving. In this embodiment, by setting the end of the forearm component 24 close to the hand component 25 as a bent structure, the end of the upper limb component 2 located on the outside of the operator's upper limb is extended from the outside to the inside to a position that is convenient for the operator to hold with his hand. In this way, the upper limb component 2 is located on the outside of the operator's upper limb, and it is convenient for the operator to hold the control part to drive the entire upper limb component 2 to move. And the end of the forearm component 24 can be bent in the above-mentioned form and can be combined with the wrist connection part 251 and the middle connection part 252 to form a semi-enclosed structure with a notch 7 facing the wearable component 1, and the semi-enclosed structure is roughly "U"-shaped. In this way, when operating the robot, the operator's hand can be extended from the notch 7 of the semi-enclosed structure to the handle 253 of the hand component 25 to conveniently hold the handle 253. After the operator's hand releases the handle 253, the hand can also be conveniently taken out. Therefore, after adopting the above-mentioned structure, the operator does not need to wear the upper limb assembly 2 as a whole on the operator's upper limb, and the connection with the upper limb can be conveniently achieved by holding the handle 253 with the hand. And after the operator's hand holds the handle 253, the operator's upper limb and the upper limb assembly 2 can be accurately positioned, so that the upper limb assembly 2 can accurately track the movement of the operator's upper limb.

[0093] The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims

1. A fighting robot limb motion control system, characterized in that: include: A robot, comprising an upper body component, a lower body component and a first control circuit, wherein the upper body component comprises an upper limb skeleton, and the lower body component is connected to the upper body component; A robot control device, comprising a wearable device, an upper limb assembly and a second control circuit, wherein one end of the upper limb assembly is rotatably connected to the wearable device, and the other end thereof is provided with a control unit for driving the upper limb assembly to move under the action of an external force, the upper limb assembly is used to detect the upper limb movement of an operator, and the wearable device is used to be worn on the upper body of the operator; The second control circuit generates a control signal according to the upper limb movement of the operator detected by the upper limb assembly and sends it to the first control circuit, and the first control circuit controls the upper limb skeleton movement of the robot according to the control signal; The upper body component and the lower body component are rotatably connected, the robot control device also includes an upper body rotation detection device and a lower body rotation detection device, the upper body rotation detection device is used to detect the rotation of the operator's upper body, and the lower body rotation detection device is used to detect the rotation of the operator's lower body, the second control circuit generates a control signal based on the signals detected by the upper body rotation detection device and the lower body rotation detection device and sends it to the first control circuit, and the first control circuit controls the upper body component of the robot to move relative to the lower body component according to the control signal; The robot further comprises a strike detection device, the strike detection device is electrically connected to the first control circuit, and the strike detection device is used to detect the strike received by the robot; The first control circuit judges the striking effect according to the detected striking received by the robot and obtains a judging result; The robot is provided with a striking effect display device, and the first control circuit controls the striking effect display device to perform an operation of displaying the striking effect according to the judgment result; The upper limb assembly includes a plurality of upper limb parts and an angle detection device connected in sequence. A rotation joint is formed between two adjacent upper limb parts in a rotatable connection. The angle detection device is used to detect the rotation angle of each rotation joint.

2. The fighting robot limb motion control system according to claim 1, characterized in that: The striking effect display device includes a lighting effect display device and / or a sound effect display device and / or a vibration effect display device, wherein the lighting effect display device is used to generate lights corresponding to the evaluation results, the sound effect display device is used to generate sounds corresponding to the evaluation results, and the vibration effect display device is used to generate vibrations corresponding to the evaluation results.

3. The fighting robot limb motion control system according to claim 2, characterized in that: The robot control device includes a striking effect feedback device, which is electrically connected to the second control circuit. The second control circuit is used to control the striking effect feedback device to produce a corresponding striking feedback effect according to a signal detected by the striking detection device.

4. The fighting robot limb motion control system according to claim 3, characterized in that: The striking effect feedback device is a lighting display device and / or a sound effect display device and / or a vibration effect display device and / or a resistance applying device; The light effect display device is used to generate light corresponding to the striking signal, the sound effect display device is used to generate sound corresponding to the striking signal, the vibration effect display device is used to generate vibration corresponding to the striking signal, and the resistance applying device is used to apply resistance corresponding to the striking signal to hinder the movement of the upper limb component.

5. The fighting robot limb motion control system according to claim 1, characterized in that: The upper limb component includes a shoulder component, a first upper arm component, a second upper arm component, a forearm component and a hand component, one end of the shoulder component forms a first rotation joint with the wearable component, and the other opposite end forms a second rotation joint with the first upper arm component, one end of the first upper arm component away from the shoulder component forms a rotatable third rotation joint with the second upper arm component, one end of the second upper arm component away from the first upper arm component forms a rotatable fourth rotation joint with the forearm component, one end of the forearm component away from the second upper arm forms a fifth rotation joint with the hand component, and the control part is arranged at one end of the hand component away from the forearm component.

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