Wearable device that combines arms and waist to control fighting robots

Abstract

The present invention belongs to the field of robot technology, and in particular, relates to a wearable device that combines arms and waists to control a fighting robot. The wearable device that combines arms and waists to control a fighting robot of the present invention comprises: a wearable part, which is used to be worn on the upper body of an operator; an upper limb component, one end of which is rotatably connected to the wearable part, and the other end is provided with a control part 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; a first detection device, which is worn on the upper body of the operator, and the first detection device is used to detect the rotation angle of the upper body of the operator; a second detection device, which is worn on the lower body of the operator, and the second detection device is used to detect the rotation angle of the lower body of the operator; a control circuit, which is used to receive the data detected by the upper limb component, the first detection device and the second detection device and generate corresponding control signals. The present invention can conveniently and accurately control the robot.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a wearable device that combines arms and waist to control a fighting robot. Background Art

[0002] At present, robots are widely used in various fields. In order to control the robot to perform corresponding actions according to user needs, corresponding control devices are required. At present, the control devices used to control robots mostly use button-type control devices. For example, by pressing various physical buttons set on the control device or touching the virtual buttons on the touch screen, the robot sends control commands to the robot. After receiving these control commands generated by the buttons, the robot performs the corresponding actions. However, there is a big difference between the actions controlled by the buttons and the actions actually performed by the robot, and the correspondence between the two actions is very weak, so it is very inconvenient to operate, and this operation method is not easy for users to master. For fighting competitive robots, the large difference between the control actions and the actual actions performed by the robot can easily reduce the user's experience and make it impossible for users to immerse themselves in robot fighting competitions.

[0003] At present, in order to improve the user's operating experience, there is also a method of controlling the robot by using the user's own body movements. In this way, the robot performs the same or similar actions as the operator's hand and body movements. Since the actions performed by the robot are consistent with the operator's body, 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 the user to be fully immersed in the robot fighting competition. In order to realize the control of the robot through the operator's body movements, it is necessary to accurately identify the operator's body movements. For this, the patent with the publication number CN112405530A proposes to use a wearable camera to capture the image information of the operator's gestures, and then analyze the type of gestures in combination with the pattern recognition method, and realize the control of the robot's behavior according to the gesture type information. Using the technical solution in the aforementioned patent, it is necessary to collect images containing operating gestures, and identify the operator's gestures after analyzing and processing the images, but the gesture images are easily disturbed by the external environment, so the accuracy of gesture recognition is poor. In addition, the amount of data required for image recognition is large, the speed of data acquisition and processing is slow, and the image processing operation process is complicated, so it is difficult for the control device to quickly and conveniently control the robot according to the operator's gestures. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a wearable device that combines arms and waist to control a fighting robot, which is used to solve the technical problem in the prior art that the robot cannot be quickly and conveniently controlled according to the operator's body movements.

[0005] The technical solution adopted by the present invention is:

[0006] In a first aspect, the present invention provides a wearable device for controlling a fighting robot by combining an arm and a waist, comprising:

[0007] Wearable device, used to be worn on the upper body of the operator;

[0008] An upper limb component, one end of which is rotatably connected to the wearable component, and the other end of which is provided with a control unit for driving the upper limb component to move under the action of an external force, wherein the upper limb component is used to detect the upper limb movement of the operator;

[0009] A first detection device, worn on the upper body of the operator, the first detection device is used to detect the rotation angle of the upper body of the operator;

[0010] a second detection device, worn on the lower body of the operator, and used to detect the rotation angle of the lower body of the operator;

[0011] The control circuit is used to receive data detected by the upper limb component, the first detection device and the second detection device and generate corresponding control signals, and the control signals are used to control the robot movements.

[0012] Preferably, it also includes a striking effect feedback device, which is electrically connected to the control circuit, and the control circuit is used to control the striking effect feedback device to produce a corresponding striking feedback effect according to the striking signal sent by the robot.

[0013] Preferably, the striking effect feedback device is a light display device, and the light display device is used to generate a light effect reflecting the striking feedback effect according to a signal sent by a control circuit.

[0014] Preferably, the striking effect feedback device is a vibration device, and the vibration device is used to generate vibration reflecting the striking feedback effect according to the signal sent by the control circuit.

[0015] Preferably, the striking effect feedback device is a torque generating device, and the control circuit controls the torque generating device to apply a torque that hinders the movement of the upper limb component according to the striking signal sent by the robot.

[0016] 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.

[0017] Preferably, the adjacent upper limb parts are rotatably connected through a joint module, and the joint module includes a first component, a second component and a bearing, the first component is fixedly connected to the outer ring of the bearing, the second component is fixedly connected to the inner ring of the bearing, and the angle detection device is installed on the joint module.

[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] Preferably, the hand component includes a wrist connection part, a middle connection part and a handle, the wrist connection part, the middle connection part and the handle form a semi-enclosed structure, and the control part is arranged on the handle.

[0020] Preferably, one end of the forearm component close to the hand component is bent from a first direction to a second direction and extends along the second direction to a first predetermined length and then connected to the hand component. One end of the forearm component close to the hand component is combined with the wrist connecting part and the middle connecting part to form a semi-enclosed structure with a notch facing the wearable device.

[0021] Beneficial effect: The wearable device of the present invention that combines arms and waists to control a fighting robot uses the first detection device and the second detection device to detect the rotation of the operator's waist, uses the upper limb assembly to detect the movement of the operator's upper limbs, and wears the control device on the operator through the wearable device, so that the upper limb assembly that is rotatably connected to the wearable device does not need to be directly worn on the user's moving upper limbs to achieve a relatively fixed position with the operator's upper body. In this way, when the upper limb assembly follows the movement of the user's upper limbs, the user's upper limbs are almost not subjected to force, so it will not cause any impact on the user's upper limbs, allowing the operator to move and exert force naturally during the control process. The upper limb assembly of this embodiment detects the limb movement of the operator by following the upper limb movement of the operator under the control of the operator, which is simpler and more accurate than the method of using image recognition to detect the user's upper limb gestures, and is convenient for quickly and accurately identifying the user's gestures and then controlling the robot in real time and accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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.

[0023] Figure 1 A three-dimensional structural diagram of a wearable device that combines arms and waist to control a fighting robot according to the present invention;

[0024] Figure 2 A three-dimensional structural diagram of another perspective of the wearable device for controlling a fighting robot by combining arms and waist of the present invention;

[0025] Figure 3 A three-dimensional structural diagram of the upper limb assembly of the present invention;

[0026] Figure 4 A three-dimensional structural diagram of the shoulder component of the present invention;

[0027] Figure 5 It is a three-dimensional structural diagram of the forearm component of the present invention;

[0028] Figure 6 A three-dimensional structural diagram of the hand component of the present invention;

[0029] Figure 7 is a three-dimensional structural diagram of the joint module of the present invention;

[0030] Figure 8 is a cross-sectional view of a joint module of the present invention;

[0031] Fig. 9 A three-dimensional structural diagram of the forearm component and the hand component of the present invention after assembly;

[0032] Fig.10 This is a schematic diagram of the wearable device of the present invention controlling a fighting robot.

[0033] Parts and their numbers in the figure:

[0034] 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, first detection device 5, second detection device 6, notch 7. DETAILED DESCRIPTION

[0035] 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.

[0036] Example 1

[0037] like Figure 1 and Figure 2 As shown, this embodiment provides a wearable gesture recognition device, which includes a wearable component 1, an upper limb component 2, a first detection device 5 and a second detection device 6.

[0038] like Fig.10 As shown, the wearable device 1 is used to be worn on the upper body of the operator; in this embodiment, the upper limb component 2 and the first detection device 5 can be installed on the wearable device 1, so that the operator only needs to wear the wearable device 1 on the upper body of the operator to simultaneously realize the position positioning of the upper limb component 2 and the first detection device 5 relative to the upper body of the operator. In specific implementation, a shoulder strap and / or a waist belt can be set on the wearable device 1, and then the shoulder strap and / or waist belt are used to fix the wearable device 1 to the upper body of the operator through the waist and / or shoulders of the operator.

[0039] In this embodiment, one end of the upper limb component 2 is rotatably connected to the wearable component 1, and the other end 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 movement of the operator; in this embodiment, the operator's upper limb can be driven by the control unit to drive the upper limb component 2 to follow the upper limb movement of the operator, and the upper limb component 2 detects the movement of the operator's upper limb during the process of following the movement.

[0040] Since in this embodiment, the wearable component 1 is worn on the operator, and one end of the upper limb component 2 is connected to the wearable component 1, the upper limb component 2 in the robot control device of this embodiment does not need to be directly worn on the operator's moving upper limbs to achieve a relatively fixed position with the operator's upper body. Since the upper limb component 2 is rotatably connected to the wearable component 1, the upper limb component 2 can follow the movement of the operator's upper limbs without causing any impact on the operator's upper limbs, and the weight of the equipment is transferred to the operator's back by the wearable component 1, and the operator's upper limbs are almost not subjected to force. Therefore, during the control process, the operator's upper limbs can move naturally and exert force. Since this embodiment uses the follow-up movement of the upper limb component 2 to detect the operator's upper limb movement, it is not necessary to obtain an image of the operator's upper limb movement, so it will not be disturbed by the environment and the recognition is more accurate.

[0041] The first detection device 5 is worn on the upper body of the operator, and the first detection device 5 is used to detect the rotation angle of the upper body of the operator. As a preferred method, the first detection device 5 in this embodiment can be installed on the wearable component 1, so that the first detection device 5 can be fixed to the upper body of the operator when the operator wears the wearable component 1. In other embodiments, the first detection device 5 and the wearable component 1 can also be worn on the upper body of the operator respectively, which is not limited here. In this embodiment, the first detection device 5 can adopt a nine-axis sensor integrating a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer. Since the first detection device 5 is worn on the upper body of the operator, the first detection device 5 can be driven to rotate together when the upper body of the operator rotates. In this embodiment, the rotation angle on the horizontal plane sensed by the nine-axis sensor can be used as the rotation angle of the upper body of the operator.

[0042] The second detection device 6 is worn on the lower body of the operator, and is used to detect the rotation angle of the lower body of the operator; in this embodiment, the second detection device 6 can be a nine-axis sensor that integrates a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer. Since the second detection device 6 is worn on the lower body of the operator, the rotation of the lower body of the operator can drive the second detection device 6 to rotate together. In this embodiment, the rotation angle on the horizontal plane sensed by the nine-axis sensor can be used as the rotation angle of the lower body of the operator.

[0043] The control circuit is used to receive the data detected by the upper limb component 2, the first detection device 5 and the second detection device 6 and generate corresponding control signals, and the control signals are used to control the robot movements.

[0044] In this embodiment, the control circuit obtains the rotation angle of the operator's waist according to the difference between the rotation angle of the operator's upper body detected by the first detection device 5 and the rotation angle of the lower body detected by the second detection device 6, and then generates a control signal in combination with the movement of the operator's upper limbs detected by the upper limb assembly 2 to control the robot to make the same or similar movement as the operator. The control circuit of this embodiment includes at least a processor. The aforementioned processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc., and can also be configured to implement one or more integrated circuits of the embodiment of the present invention.

[0045] As one of the preferred implementation modes, in this embodiment, the upper limb assembly 2 includes a plurality of upper limb parts and an angle detection device 3 connected in sequence, wherein a rotation joint is formed between two adjacent upper limb parts in a rotatable manner, and the angle detection device 3 is used to detect the rotation angle of each rotation joint.

[0046] The two adjacent upper limb components are rotatably connected to simulate the rotational relationship between two adjacent parts in the joint of the upper limb of the human body. 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 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.

[0047] In this embodiment, the angle detection device 3 is arranged 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 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 joints is certain. 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 operator's upper limb can be obtained through the motion state of the upper limb assembly 2.

[0048] 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. There are few variables that need to be updated during 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 during gesture recognition 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 changed due to external conditions, and will not be easily disturbed by the external environment like other gesture recognition methods. Therefore, the collected data is highly accurate, and the accuracy of gesture recognition is correspondingly improved.

[0049] Since the operator can operate the upper limb assembly 2 in the control device of this embodiment 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, 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 the upper limb assembly 2 is not directly worn on the upper limb of the operator, so the upper limb of the operator can move freely. In this way, when the operator controls the robot competitive fighting, it is like he is in the live competitive fighting, which can bring the operator an immersive feeling, so that the operator can better immerse himself in the fun of competitive fighting.

[0050] like Figure 3As shown, as a preferred 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 part is arranged at one end of the hand component 25 away from the forearm component 24.

[0051] 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.

[0052] like Figure 4 As shown, in order to realize the free rotation of the shoulder component 21, the present embodiment sets two rotation joints on the shoulder component 21, one rotation joint is located between the shoulder component 21 and the wearable component 1, and the other rotation joint is located between the shoulder component 21 and the first upper arm component 22. Through the cooperation of the above two joints, the first upper arm component 22 can realize more degrees of freedom of rotation relative to the wearable component 1 through the shoulder component 21, so as to be consistent with the rotation of the human shoulder joint. Since the two rotation joints of the shoulder component 21 are set separately in the present embodiment, the rotation between the two rotation joints of the shoulder component 21 does not affect each other when the shoulder component 21 follows the movement of the human shoulder. The shoulder component is composed of a first connecting portion 211, a bending portion 212 and an intermediate connecting portion 213.

[0053] 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.

[0054] In order to further improve the operator's experience in controlling the robot, in this embodiment, the wearable device that combines the arm and waist to control the fighting robot also includes a striking effect feedback device, and the striking effect feedback device is electrically connected to the control circuit, and the control circuit is used to control the striking effect feedback device to produce a corresponding striking feedback effect according to the striking signal sent by the robot.

[0055] In this embodiment, a detection device for detecting a blow can be installed on the controlled robot. When the robot is struck, the detection device generates a corresponding signal, and sends the signal of the blow to the control circuit of the control device of this embodiment. Then the control circuit controls the feedback device to generate a corresponding blow feedback effect according to the received control signal. Since the control device is worn on the operator when the robot is controlled by the control device in this embodiment, the blow feedback effect generated by the blow effect feedback device of the control device in this embodiment can be better and more timely experienced by the operator. The aforementioned blow effect feedback device can be one or more. When there are multiple blow effect feedback devices. Multiple blow effect feedback devices can be installed in the same part of the control device or in different parts of the control device. In order to improve the operator's experience and allow the operator to perceive the specific part of the controlled robot that is struck, as a preferred embodiment, in this embodiment, the blow effect feedback device is installed in the part of the control device corresponding to the controlled robot.

[0056] As one specific implementation method, in this embodiment, the striking effect feedback device is a light display device, and the light display device is used to generate a light effect reflecting the striking feedback effect according to a signal sent by a control circuit.

[0057] The aforementioned lighting 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 irregular 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. The lighting display device can be an LED light installed on a wearable device that combines the arm and waist to control the fighting robot, and the control circuit controls the LED light to produce different lighting effects according to the signal that the robot is hit.

[0058] The aforementioned light display device can be one or more. When there are multiple light display devices. Multiple light display devices can be installed in the same part of the control device or in different parts of the control device. In order to improve the operator's experience and allow the operator to perceive the specific part of the controlled robot that is hit, as a preferred implementation, in this embodiment, the light display device is installed in the part of the control device that corresponds to the controlled robot. The light display device can be installed on the shoulder part 21, the first upper arm part 22, the second upper arm part 23, the forearm part 24, the hand part 25 and the wearable part 1 of the control device respectively.

[0059] For example, when the robot's hand is hit, the control circuit controls the light display device located at the position of the hand component 25 of the control device to produce corresponding light effects; when the robot's forearm is hit, the control circuit controls the light display device located at the position of the forearm component 24 of the control device to produce corresponding light effects; for example, when the robot's lower arm is hit, the control circuit controls the light display device located at the position of the second upper arm component 23 of the control device to produce corresponding light effects; for example, when the robot's upper arm is hit, the control circuit controls the light display device located at the position of the first upper arm component 22 of the control device to produce corresponding light effects; for example, when the robot's shoulder is hit, the control circuit controls the light display device located at the position of the shoulder component 21 of the control device to produce corresponding light effects; for example, when the robot's chest or back is hit, the control circuit controls the light display device located on the wearable component 1 of the control device to produce corresponding light effects;

[0060] As a specific implementation method, in this embodiment, the striking effect feedback device is a vibration device, and the vibration device is used to generate vibration reflecting the striking feedback effect according to the signal sent by the control circuit.

[0061] In this embodiment, the control circuit can control the vibration device to produce different vibration effects according to the strength of the blows received by the robot. For example, vibrations of different amplitudes and / or frequencies and / or durations are produced according to different blow strengths. The vibration effect can be continuous vibration for a period of time, or intermittent vibration for a period of time.

[0062] As a preferred implementation, in this embodiment, the vibration device is installed on the part of the control device corresponding to the controlled robot. The vibration device can be installed on the shoulder part 21, the first upper arm part 22, the second upper arm part 23, the forearm part 24, the hand part 25 and the wearable part 1 of the control device.

[0063] For example, when the robot's hand is hit, the control circuit controls the vibration device located at the hand part 25 of the control device to produce a corresponding vibration effect; for example, when the robot's forearm is hit, the control circuit controls the vibration device located at the forearm part 24 of the control device to produce a corresponding vibration effect; for example, when the robot's lower arm is hit, the control circuit controls the vibration device located at the second upper arm part 23 of the control device to produce a corresponding vibration effect; for example, when the robot's upper arm is hit, the control circuit controls the vibration device located at the first upper arm part 22 of the control device to produce a corresponding vibration effect; for example, when the robot's shoulder is hit, the control circuit controls the vibration device located at the shoulder part 21 of the control device to produce a corresponding vibration effect; for example, when the robot's chest or back is hit, the control circuit controls the vibration device located on the wearable part 1 of the control device to produce a corresponding vibration effect.

[0064] As one specific implementation method, the striking effect feedback device of the present invention is a torque generating device, and the control circuit controls the torque generating device to apply a torque that hinders the movement of the upper limb component 2 according to the striking signal sent by the robot.

[0065] When the robot is hit, a corresponding hitting signal is generated. After the control circuit in this embodiment receives the hitting signal, a control signal is generated accordingly. The control signal controls the torque generating device to apply a torque that hinders the movement of the upper limb assembly 2. The torque applied during specific implementation will hinder the rotation of one or several joints in the upper limb assembly 2, so that the upper limb of the operator is more difficult to move than when it is not hit. The above scheme can simulate the effect of the robot fighting competition being sluggish after being injured by the attack, so that the operator's experience is closer to the real scene of fighting competition. In the specific embodiment, the torque generating device can use a servo motor installed at each joint position, wherein the housing of the servo motor is connected to one of the adjacent upper limb components, and the output end of the servo motor is connected to another of the adjacent upper limb components. During specific implementation, the parameters of the hindering torque applied by the servo motor can be controlled according to the situation of the hitting detected by the robot.

[0066] As a preferred implementation, in this embodiment, the adjacent upper limb components are rotatably connected via the joint module 4. Figure 7 As shown, 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 aforementioned rotatable connection between two adjacent upper limb components refers to the connection between the two adjacent upper limb components in a form that can rotate around a certain axis direction.

[0067] The first member 41 is fixedly connected to one of the two adjacent upper limb members, and the second member 42 is fixedly connected to the other of the two adjacent upper limb members. The angle detection device 3 can adopt 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 the two adjacent upper limb members 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 changes 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 members.

[0068] like Figure 6As shown, as a preferred embodiment, 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, 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 to 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 accurately position the user's upper limb and the upper limb assembly 2 after holding the control part, so that the upper limb assembly 2 can move synchronously with the user's upper limb without affecting the movement of the user's upper limb.

[0069] In addition, as 5 and Fig. 9As shown, in this 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 extends 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 during movement. 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.

[0070] The handle 253 is provided with a plurality of buttons 254, and the buttons 254 are used to generate corresponding electrical signals when being pressed, 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 5 and the second detection device 6, the operator can also control the robot to perform more actions through the buttons 254 provided on the handle 253.

Claims

1. A wearable device that combines arms and waist to control a fighting robot, characterized in that: include: Wearable device, used to be worn on the upper body of the operator; An upper limb component, one end of which is rotatably connected to the wearable component, and the other end of which is provided with a control unit for driving the upper limb component to move under the action of an external force, wherein the upper limb component is used to detect the upper limb movement of the operator; A first detection device, worn on the upper body of the operator, and used to detect the rotation angle of the upper body of the operator; a second detection device, worn on the lower body of the operator, and used to detect the rotation angle of the lower body of the operator; A control circuit for receiving data detected by the upper limb assembly, the first detection device and the second detection device and generating a corresponding control signal, wherein the control signal is used to control the robot action; Also includes a striking effect feedback device, the striking effect feedback device is electrically connected to the control circuit, the control circuit is used to control the striking effect feedback device to generate a corresponding striking feedback effect according to the striking signal sent by the robot; The upper limb assembly includes a plurality of upper limb parts connected in sequence, and two adjacent upper limb parts are rotatably connected to form a rotation joint; The upper limb assembly includes a plurality of angle detection devices, and the angle detection devices are used to detect the rotation angle of each rotation joint; The adjacent upper limb parts are rotatably connected by a joint module, the joint module includes a first member, a second member and a bearing, the first member is fixedly connected to the outer ring of the bearing, the second member is fixedly connected to the inner ring of the bearing, and the angle detection device is mounted on the joint module; 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 unit is arranged at one end of the hand component away from the forearm component; The shoulder component is extended three times and bent twice to form an "L" shape. After being connected to the wearable device, the shoulder component is wound from the user's back to the outside of the user's shoulder and then connected to the first upper arm component. The upper limb component is located outside the user's body at a certain distance. The hand component includes a wrist connection part, an intermediate connection part and a handle. The wrist connection part, the intermediate connection part and the handle form a semi-enclosed structure, and the control part is arranged on the handle. One end of the forearm component close to the hand component is bent from a first direction to a second direction and extends along the second direction to a first predetermined length before being connected to the hand component. One end of the forearm component close to the hand component is combined with the wrist connecting part and the middle connecting part to form a semi-enclosed structure with a notch facing the wearable device.

2. The wearable device for controlling a fighting robot by combining arms and waist according to claim 1, characterized in that: The striking effect feedback device is a light display device, and the light display device is used to generate a light effect reflecting the striking feedback effect according to a signal sent by a control circuit.

3. The wearable device for controlling a fighting robot by combining arms and waist according to claim 1, characterized in that: The striking effect feedback device is a vibration device, and the vibration device is used to generate vibration reflecting the striking feedback effect according to the signal sent by the control circuit.

4. The wearable device for controlling a fighting robot by combining arms and waist according to claim 1, characterized in that: The striking effect feedback device is a torque generating device, and the control circuit controls the torque generating device to apply a torque that hinders the movement of the upper limb component according to the striking signal sent by the robot.

Images