A collaborative information interaction method and system between a three-degree-of-freedom mechanism and an AR device

Abstract

The present invention relates to a method and system for collaborative information interaction between a three-degree-of-freedom mechanism and an AR device, and belongs to the technical field of information interaction of AR devices. The present invention obtains the optimized collaborative information interaction network by configuring and optimizing the data transmission volume of the collaborative information interaction network, thereby obtaining the real-time scene information of each AR device, and performing scene recognition on the real-time scene information of the AR device to obtain the preset scene recognition result, and finally generates the control logic of each three-degree-of-freedom mechanism according to the preset scene recognition result, and controls each three-degree-of-freedom mechanism by transmitting information based on the control logic of the three-degree-of-freedom mechanism through the optimized collaborative information interaction network. The present invention optimizes the collaborative information interaction network to maintain the timeliness of information interaction, reduce the control delay between the three-degree-of-freedom mechanism and the AR device, and can make timely responses according to the AR scene, so that the user's immersive experience is stronger.

Description

Technical Field

[0001] The present invention relates to the field of AR device information collaboration technology, and in particular to a collaborative information interaction method and system between a three-degree-of-freedom mechanism and an AR device. Background Art

[0002] AR stands for Augmented Reality, which is a technology that uses computer equipment to superimpose virtual information that is difficult to appear in the real world on the real environment. The two are integrated and work together to enable human senses to achieve an experience beyond reality. It has three characteristics: immersion, interactivity and three-dimensional registration. Immersion is reflected in the fact that AR can perfectly integrate with real-world information in terms of vision, hearing, smell and other aspects, allowing people to feel the difference and unable to distinguish the true from the false; interactivity is reflected in the fact that AR's virtual information and real-world information are linked in real time, people can directly interact with virtual objects, and can get natural feedback in time. More importantly, the interaction in AR is flexible and variable according to personal needs; three-dimensional registration is reflected in the fact that AR is a virtual space established with objects in real scenes as markers, and all virtual information is generated in this space and matched with the real environment. The existing three-degree-of-freedom dynamic AR experience equipment has made certain progress in providing users with an immersive virtual reality experience, but there are still some shortcomings. The existing three-degree-of-freedom dynamic VR equipment needs to be improved in terms of interactivity. Although VR technology can provide users with an immersive experience visually, the existing three-degree-of-freedom dynamic VR devices cannot provide sufficient simulation in other senses such as hearing and touch, making the overall immersion not strong enough. Summary of the invention

[0003] The present invention overcomes the deficiencies of the prior art and provides a method and system for collaborative information interaction between a three-degree-of-freedom mechanism and an AR device.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] A first aspect of the present invention provides a method for collaborative information interaction between a three-degree-of-freedom mechanism and an AR device, comprising the following steps:

[0006] Construct a collaborative information interaction network, integrate the three-degree-of-freedom mechanism and the AR device into the collaborative information interaction network, and obtain the control delay characteristics of each three-degree-of-freedom mechanism of the collaborative information interaction network when setting different data transmission amounts;

[0007] A genetic algorithm is introduced, and the collaborative information interaction network is configured and optimized in terms of data transmission amount according to the control delay characteristics of each three-degree-of-freedom mechanism when the collaborative information interaction network sets different data transmission amounts, so as to obtain an optimized collaborative information interaction network;

[0008] Acquire the real-time scene information of each AR device, perform scene recognition on the real-time scene information of the AR device, and obtain the preset scene recognition result;

[0009] The control logic of each three-degree-of-freedom mechanism is generated according to the preset scene recognition result, and each three-degree-of-freedom mechanism is controlled by transmitting information through the optimized collaborative information interaction network based on the control logic of the three-degree-of-freedom mechanism.

[0010] Furthermore, in the present method, a collaborative information interaction network is constructed, and the three-degree-of-freedom mechanism and the AR device are integrated into the collaborative information interaction network, and the control delay characteristics of each three-degree-of-freedom mechanism of the collaborative information interaction network when setting different data transmission amounts are obtained, specifically including:

[0011] Constructing a collaborative information interaction network, configuring communication equipment for the collaborative information interaction network, and obtaining location information of each three-degree-of-freedom mechanism in the current target area and location information of the communication equipment;

[0012] Calculate the Euclidean distance between each three-degree-of-freedom mechanism and the communication device according to the position information of each three-degree-of-freedom mechanism in the current target area and the position information of the communication device;

[0013] Acquire information transmission delay characteristic data information at each Euclidean distance when setting different data transmission amounts through big data, and construct a database, and input the information transmission delay characteristic data information at each Euclidean distance when setting different data transmission amounts into the database for storage;

[0014] The Euclidean distance value between each three-degree-of-freedom mechanism and the communication device is input into the database for data matching, and the information transmission delay characteristic information between each three-degree-of-freedom mechanism and the communication device when different data transmission rates are set is obtained, and used as the control delay characteristic output of each three-degree-of-freedom mechanism by the collaborative information interaction network when different data transmission rates are set.

[0015] Furthermore, in this method, a genetic algorithm is introduced, and the collaborative information interaction network is configured and optimized in data transmission amount according to the control delay characteristics of each three-degree-of-freedom mechanism when the collaborative information interaction network sets different data transmission amounts, so as to obtain an optimized collaborative information interaction network, which specifically includes:

[0016] Introducing a genetic algorithm, and setting a genetic algebra according to the genetic algorithm, configuring an information transmission amount for information transmission between each three-degree-of-freedom mechanism and a communication device, and initializing an information transmission amount between each three-degree-of-freedom mechanism and a communication device, and obtaining an information transmission amount combination;

[0017] Acquire the control delay characteristics of each three-degree-of-freedom mechanism by the collaborative information interaction network when setting different data transmission amounts and the information transmission amount combination;

[0018] Preset a control delay characteristic threshold, and determine whether there is a three-degree-of-freedom mechanism with a control delay characteristic greater than the control delay characteristic threshold in the collaborative information interaction network, and if not, output an information transmission amount combination;

[0019] When a three-degree-of-freedom mechanism having a control delay characteristic greater than the control delay characteristic threshold exists in the collaborative information interaction network, the data in the information transmission quantity combination is readjusted until a three-degree-of-freedom mechanism having a control delay characteristic greater than the control delay characteristic threshold no longer exists, thereby generating an optimized collaborative information interaction network.

[0020] Furthermore, in this method, real-time scene information of each AR device is obtained, and scene recognition is performed on the real-time scene information of the AR device to obtain a preset scene recognition result, which specifically includes:

[0021] Building a scene information recognition model based on a deep neural network, and obtaining scene information stored in each AR device, dividing the scene information stored in the AR device into a plurality of sub-scene information, and building a training set and a test set according to the sub-scene information;

[0022] Inputting the training set into the scene information recognition model for training, and when the model parameters of the scene information recognition model meet the preset requirements, saving the model parameters of the scene information recognition model;

[0023] Testing the scene information recognition model with the test set to obtain the recognition accuracy of the scene information recognition model, and when the recognition accuracy of the scene information recognition model is greater than a preset recognition accuracy, the training is completed and the scene information recognition model is output;

[0024] Configure preset scene information, obtain real-time scene information of each AR device, and input the real-time scene information of each AR device into the scene information recognition model for recognition. When preset scene information exists, output the preset scene recognition result.

[0025] Furthermore, in the present method, the control logic of each three-degree-of-freedom mechanism is generated according to the preset scene recognition result, specifically including:

[0026] By configuring control logic for preset scene information, taking the preset scene information as a first graph node, taking the control logic as a second graph node, and constructing a topology structure graph according to the first graph node and the second graph node;

[0027] Obtaining a related adjacency matrix through the topological structure diagram, constructing a logic control library, inputting the related adjacency matrix into the logic control library for storage, and inputting the preset scene recognition result into the logic control library for data matching;

[0028] The control logic of each three-degree-of-freedom mechanism is obtained through data matching, and the control logic of each three-degree-of-freedom mechanism is output as an output result.

[0029] Furthermore, in the method, each three-degree-of-freedom mechanism is controlled by transmitting information through the optimized collaborative information interaction network based on the control logic of the three-degree-of-freedom mechanism, specifically including:

[0030] By configuring communication protocol information for each three-degree-of-freedom mechanism and obtaining the communication protocol information of each three-degree-of-freedom mechanism in the target area, basic information of the user wearing the AR device in the target area is obtained;

[0031] By performing permission authentication on basic information of the user wearing the AR device in the target area, it is determined whether the user wearing the AR device in the target area has relevant permissions;

[0032] When the user wearing the AR device in the target area has relevant permissions, the control logic of the three-degree-of-freedom mechanism is transmitted to the three-degree-of-freedom mechanism control terminal through the optimized collaborative information interaction network according to the communication protocol information of the three-degree-of-freedom mechanism, and the three-degree-of-freedom mechanism is controlled by the three-degree-of-freedom mechanism control terminal;

[0033] When the user wearing the AR device in the target area does not have relevant authority, the control logic of the three-degree-of-freedom mechanism is stopped from being transmitted to the three-degree-of-freedom mechanism control terminal through the optimized collaborative information interaction network.

[0034] A second aspect of the present invention provides a collaborative information interaction system between a three-degree-of-freedom mechanism and an AR device, the system comprising a memory and a processor, the memory comprising a collaborative information interaction method program between the three-degree-of-freedom mechanism and the AR device, and when the collaborative information interaction method program between the three-degree-of-freedom mechanism and the AR device is executed by the processor, the following steps are implemented:

[0035] Construct a collaborative information interaction network, integrate the three-degree-of-freedom mechanism and the AR device into the collaborative information interaction network, and obtain the control delay characteristics of each three-degree-of-freedom mechanism of the collaborative information interaction network when setting different data transmission amounts;

[0036] A genetic algorithm is introduced, and the collaborative information interaction network is configured and optimized in terms of data transmission amount according to the control delay characteristics of each three-degree-of-freedom mechanism when the collaborative information interaction network sets different data transmission amounts, so as to obtain an optimized collaborative information interaction network;

[0037] Acquire the real-time scene information of each AR device, perform scene recognition on the real-time scene information of the AR device, and obtain the preset scene recognition result;

[0038] The control logic of each three-degree-of-freedom mechanism is generated according to the preset scene recognition result, and each three-degree-of-freedom mechanism is controlled by transmitting information through the optimized collaborative information interaction network based on the control logic of the three-degree-of-freedom mechanism.

[0039] Wherein, the three-degree-of-freedom mechanism specifically includes:

[0040] A frame, wherein a bottom plate is arranged on the frame, a driving motor is mounted on the bottom plate, an output end of the driving motor is connected to a first spherical gear, the first spherical gear is meshed with two second spherical gears for transmission, the second spherical gears are connected to fixing blocks at both ends of the bottom plate, and the second spherical gears are both transmitted with a third spherical gear, and the third spherical gear is connected to a support plate;

[0041] The support plate is provided with telescopic rods in a circumferential array, and the output ends of the telescopic rods are connected to the top plate.

[0042] Further, in the freedom mechanism, the second spherical gear is capable of rotating.

[0043] Furthermore, in the freedom mechanism, the first spherical gear is driven by a driving motor, and the driving motor is fixed on the base plate.

[0044] The present invention solves the defects existing in the background technology and has the following beneficial effects:

[0045] The present invention integrates the three-degree-of-freedom mechanism and the AR device into the collaborative information interaction network by constructing a collaborative information interaction network, obtains the control delay characteristics of the collaborative information interaction network for each three-degree-of-freedom mechanism when setting different data transmission amounts, and then introduces a genetic algorithm. The collaborative information interaction network is configured and optimized according to the control delay characteristics of the collaborative information interaction network for each three-degree-of-freedom mechanism when setting different data transmission amounts, and the optimized collaborative information interaction network is obtained, thereby obtaining the real-time scene information of each AR device, and performing scene recognition on the real-time scene information of the AR device, obtaining the preset scene recognition result, and finally generating the control logic of each three-degree-of-freedom mechanism according to the preset scene recognition result, and controlling each three-degree-of-freedom mechanism through information transmission through the optimized collaborative information interaction network based on the control logic of the three-degree-of-freedom mechanism. The present invention optimizes the collaborative information interaction network, maintains the timeliness of information interaction, reduces the control delay between the three-degree-of-freedom mechanism and the AR device, and can make a timely response according to the AR scene, so that the user's immersive experience is stronger. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, drawings of other embodiments can be obtained based on these drawings without paying creative work.

[0047] Figure 1 The overall method flow chart of the collaborative information interaction method between the three-degree-of-freedom mechanism and the AR device is shown;

[0048] Figure 2 A schematic diagram of the three-dimensional structure of a three-degree-of-freedom mechanism is shown;

[0049] Figure 3 A partial structural schematic diagram of a three-degree-of-freedom mechanism is shown;

[0050] Figure 4 A schematic diagram of the top view of the three-degree-of-freedom mechanism is shown.

[0051] Figure 5 A system block diagram of a collaborative information interaction system between a three-degree-of-freedom mechanism and an AR device is shown.

[0052] In the figure:

[0053] 1. Frame, 2. Bottom plate, 3. Driving motor, 4. First spherical gear, 5. Second spherical gear, 6. Fixed block, 7. Third spherical gear, 8. Support plate, 9. Telescopic rod, 10. Top plate. DETAILED DESCRIPTION

[0054] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0055] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0056] like Figure 1 As shown, the first aspect of the present invention provides a method for collaborative information interaction between a three-degree-of-freedom mechanism and an AR device, comprising the following steps:

[0057] S102: constructing a collaborative information interaction network, integrating the three-degree-of-freedom mechanism and the AR device into the collaborative information interaction network, and obtaining control delay characteristics of the collaborative information interaction network for each three-degree-of-freedom mechanism when setting different data transmission amounts;

[0058] S104: introducing a genetic algorithm, using the genetic algorithm to configure and optimize the data transmission volume of the collaborative information interaction network according to the control delay characteristics of each three-degree-of-freedom mechanism when the collaborative information interaction network sets different data transmission volumes, and obtaining an optimized collaborative information interaction network;

[0059] S106: Acquire real-time scene information of each AR device, and perform scene recognition on the real-time scene information of the AR device to obtain a preset scene recognition result;

[0060] S108: Generate control logic for each three-degree-of-freedom mechanism according to the preset scene recognition result, and control each three-degree-of-freedom mechanism based on the control logic of the three-degree-of-freedom mechanism by transmitting information through the optimized collaborative information interaction network.

[0061] It should be noted that the present invention optimizes the collaborative information interaction network, maintains the timeliness of information interaction, reduces the control delay between the three-degree-of-freedom mechanism and the AR device, and can make timely responses according to the AR scene, thereby enhancing the user's immersive experience.

[0062] It should be noted that the collaborative information interaction network is equivalent to a remote control terminal, which serves as a bridge for communication between the AR device and the three-degree-of-freedom mechanism. The information of the AR device and the control logic of the three-degree-of-freedom mechanism (such as motor control, telescopic rod control, etc.) are integrated into the collaborative information interaction network, thereby controlling the three-degree-of-freedom mechanism through the collaborative information interaction network.

[0063] Furthermore, in the step of constructing a collaborative information interaction network, integrating the three-degree-of-freedom mechanism and the AR device into the collaborative information interaction network, and obtaining the control delay characteristics of each three-degree-of-freedom mechanism of the collaborative information interaction network when setting different data transmission amounts, the steps specifically include:

[0064] Construct a collaborative information interaction network, configure communication equipment for the collaborative information interaction network, and obtain the location information of each three-degree-of-freedom mechanism and the location information of the communication equipment in the current target area;

[0065] Calculate the Euclidean distance between each three-degree-of-freedom mechanism and the communication device according to the location information of each three-degree-of-freedom mechanism in the current target area and the location information of the communication device;

[0066] Acquire information transmission delay characteristic data information at each Euclidean distance when setting different data transmission amounts through big data, build a database, and input the information transmission delay characteristic data information at each Euclidean distance when setting different data transmission amounts into the database for storage;

[0067] The Euclidean distance value between each three-degree-of-freedom mechanism and the communication device is input into the database for data matching, and the information transmission delay characteristic information of each three-degree-of-freedom mechanism and the communication device when different data transmission rates are set is obtained, and the control delay characteristic output of each three-degree-of-freedom mechanism is used as the collaborative information interaction network when different data transmission rates are set.

[0068] It should be noted that the information transmission delay is related to factors such as distance and information transmission volume. Due to the inconsistent setting positions of the three-degree-of-freedom mechanisms, the Euclidean distance values ​​between each three-degree-of-freedom mechanism and the communication device are inconsistent, which ultimately leads to inconsistent control delays. This method can obtain the control delay characteristics of each three-degree-of-freedom mechanism when setting different data transmission volumes in the collaborative information interaction network.

[0069] Furthermore, in this method, a genetic algorithm is introduced, and the collaborative information interaction network is configured and optimized in terms of the control delay characteristics of each three-degree-of-freedom mechanism when the collaborative information interaction network sets different data transmission amounts, so as to obtain an optimized collaborative information interaction network, which specifically includes:

[0070] A genetic algorithm is introduced, and a genetic algebra is set according to the genetic algorithm, an information transmission amount is configured for information transmission between each three-degree-of-freedom mechanism and a communication device, and the information transmission amount between each three-degree-of-freedom mechanism and a communication device is initialized to obtain an information transmission amount combination;

[0071] According to the control delay characteristics of the collaborative information interaction network for each three-degree-of-freedom mechanism when different data transmission amounts are set and the information transmission amount combination, the control delay characteristics of the collaborative information interaction network for each three-degree-of-freedom mechanism are obtained;

[0072] Preset a control delay characteristic threshold, and determine whether there is a three-degree-of-freedom mechanism with a control delay characteristic greater than the control delay characteristic threshold in the collaborative information interaction network, and if not, output an information transmission amount combination;

[0073] When there is a three-degree-of-freedom mechanism with a control delay characteristic greater than the control delay characteristic threshold in the collaborative information interaction network, the data in the information transmission volume combination is readjusted until there is no three-degree-of-freedom mechanism with a control delay characteristic greater than the control delay characteristic threshold, thereby generating an optimized collaborative information interaction network.

[0074] It should be noted that since the collaborative information interaction network has an upper limit in the information transmission process, that is, there is an upper limit of information transmission, and since the number of devices that need to be controlled may be huge, an information transmission threshold will actually be set to limit it, so that the total information transmission of all devices does not exceed the upper limit of information transmission. Within a certain range, a genetic algorithm is used to find the optimal solution for information transmission, so that there is no three-degree-of-freedom mechanism with a control delay characteristic greater than the control delay characteristic threshold, thereby reducing the control delay. For example, the original control delay is 10ms, which can be increased to 5ms through this method.

[0075] Furthermore, in this method, real-time scene information of each AR device is obtained, and scene recognition is performed on the real-time scene information of the AR device to obtain a preset scene recognition result, which specifically includes:

[0076] Build a scene information recognition model based on a deep neural network, obtain the scene information stored in each AR device, divide the scene information stored in the AR device into several sub-scene information, and build a training set and a test set based on the sub-scene information;

[0077] The training set is input into the scene information recognition model for training, and when the model parameters of the scene information recognition model meet the preset requirements, the model parameters of the scene information recognition model are saved;

[0078] The scene information recognition model is tested through the test set to obtain the recognition accuracy of the scene information recognition model. When the recognition accuracy of the scene information recognition model is greater than the preset recognition accuracy, the training is completed and the scene information recognition model is output;

[0079] Configure preset scene information, obtain real-time scene information of each AR device, and input the real-time scene information of each AR device into the scene information recognition model for recognition. When preset scene information exists, output the preset scene recognition result.

[0080] It should be noted that the user can feel the internal scene in the AR device, and the preset scene can be identified and tracked through this method, so as to configure the control logic according to the preset scene.

[0081] Furthermore, in this method, the control logic of each three-degree-of-freedom mechanism is generated according to the preset scene recognition result, specifically including:

[0082] By configuring the control logic for the preset scene information, and taking the preset scene information as the first graph node, taking the control logic as the second graph node, and constructing a topology structure graph according to the first graph node and the second graph node;

[0083] Obtain the relevant adjacency matrix through the topological structure diagram, build a logic control library, input the relevant adjacency matrix into the logic control library for storage, and input the preset scene recognition result into the logic control library for data matching;

[0084] Through data matching, the control logic of each three-degree-of-freedom mechanism is obtained, and the control logic of each three-degree-of-freedom mechanism is output as an output result.

[0085] It should be noted that the control logic is configured for the three-degree-of-freedom mechanism through this method.

[0086] Furthermore, in the present method, each three-degree-of-freedom mechanism is controlled by information transmission through an optimized collaborative information interaction network based on the control logic of the three-degree-of-freedom mechanism, specifically including:

[0087] By configuring communication protocol information for each three-degree-of-freedom mechanism and obtaining the communication protocol information of each three-degree-of-freedom mechanism in the target area, basic information of the user wearing the AR device in the target area is obtained;

[0088] By performing permission authentication on the basic information of the user wearing the AR device in the target area, it is determined whether the user wearing the AR device in the target area has relevant permissions;

[0089] When the user wearing the AR device in the target area has relevant permissions, the control logic of the three-degree-of-freedom mechanism is transmitted to the three-degree-of-freedom mechanism control terminal through the optimized collaborative information interaction network according to the communication protocol information of the three-degree-of-freedom mechanism, and the three-degree-of-freedom mechanism is controlled by the three-degree-of-freedom mechanism control terminal;

[0090] When the user wearing the AR device in the target area does not have the relevant authority, the control logic of the three-degree-of-freedom mechanism is stopped from being transmitted to the three-degree-of-freedom mechanism control terminal through the optimized collaborative information interaction network.

[0091] In addition, the method may further comprise the following steps:

[0092] Acquire operating parameter characteristic data of the three-degree-of-freedom mechanism, construct the operating parameter characteristic data based on a time series, construct a fault prediction model based on a deep neural network, and input the operating parameter characteristic data based on a time series into the fault prediction model for training;

[0093] Through training, a trained fault prediction model is obtained, and operating parameter characteristic data of each three-degree-of-freedom mechanism within a preset time is obtained, and the operating parameter characteristic data of each three-degree-of-freedom mechanism within the preset time is input into the trained fault prediction model for prediction;

[0094] Obtaining, by prediction, the estimated failure time information of each three-degree-of-freedom mechanism, and obtaining the estimated time period when the user uses the AR device, and determining whether the estimated failure time information of the three-degree-of-freedom mechanism is not within the estimated time period when the user uses the AR device;

[0095] When the estimated failure time information of the three-degree-of-freedom mechanism is not within the estimated time period when the user uses the AR device, the corresponding three-degree-of-freedom mechanism is used as a priority three-degree-of-freedom mechanism, and relevant recommendation information is generated.

[0096] It should be noted that when the estimated failure time information of the three-degree-of-freedom mechanism is not within the estimated time period when the user is using the AR device, it means that a failure will occur during the user's use. This method can select a fault-free three-degree-of-freedom mechanism during the user's use experience, thereby improving the user's AR experience.

[0097] In addition, the method may further comprise the following steps:

[0098] Acquire control delay characteristic data of the three-degree-of-freedom mechanism by the collaborative information interaction network under various environmental factors through big data, and input the control delay characteristic data of the three-degree-of-freedom mechanism by the collaborative information interaction network under various environmental factors into the database for storage;

[0099] Obtaining environmental factor data information in a preset target area, inputting the environmental factor data information in the preset target area into the database for data matching, and obtaining control delay characteristic data under the current environmental factor;

[0100] The data transmission volume combination is updated according to the control delay characteristic data under the current environmental factor, and the data transmission volume of the data transmission volume combination is counted to obtain the total data transmission volume;

[0101] When the total data transmission volume is greater than the upper limit of the information transmission volume of the collaborative information interaction network, the three-degree-of-freedom mechanism with the maximum working number is calculated according to the upper limit of the information transmission volume of the collaborative information interaction network, and constraint information is generated, and the working data of the three-degree-of-freedom mechanism is restricted according to the constraint information.

[0102] It should be noted that since environmental factors (such as ambient temperature, humidity, electromagnetic interference, etc.) affect the control delay characteristics, in order to avoid interference, the amount of information transmission between the collaborative information interaction network and the three-degree-of-freedom mechanism will generally be increased. When the total data transmission volume is greater than the upper limit of the information transmission volume of the collaborative information interaction network, it means that continuing to increase the data transmission volume may cause the collaborative information interaction network to be paralyzed. This method can calculate the maximum number of working three-degree-of-freedom mechanisms according to environmental changes, thereby limiting the working data of the three-degree-of-freedom mechanism to ensure that the control delay characteristics are lower than the preset threshold, thereby enhancing the user's immersive experience.

[0103] like Figure 5 As shown, the second aspect of the present invention provides a collaborative information interaction system 4 between a three-degree-of-freedom mechanism and an AR device. The system 4 includes a memory 41 and a processor 42. The memory 41 includes a collaborative information interaction method program between the three-degree-of-freedom mechanism and the AR device. When the collaborative information interaction method program between the three-degree-of-freedom mechanism and the AR device is executed by the processor 42, the following steps are implemented:

[0104] Construct a collaborative information interaction network, integrate the three-degree-of-freedom mechanism and AR equipment into the collaborative information interaction network, and obtain the control delay characteristics of the collaborative information interaction network for each three-degree-of-freedom mechanism when setting different data transmission amounts;

[0105] A genetic algorithm is introduced to configure and optimize the data transmission volume of the collaborative information interaction network according to the control delay characteristics of each three-degree-of-freedom mechanism when setting different data transmission volumes, so as to obtain an optimized collaborative information interaction network;

[0106] Acquire the real-time scene information of each AR device, perform scene recognition on the real-time scene information of the AR device, and obtain the preset scene recognition result;

[0107] The control logic of each three-degree-of-freedom mechanism is generated according to the preset scene recognition result, and each three-degree-of-freedom mechanism is controlled by transmitting information through the optimized collaborative information interaction network based on the control logic of the three-degree-of-freedom mechanism.

[0108] like Figure 2-4 As shown, the three-degree-of-freedom mechanism specifically includes:

[0109] A frame 1, a bottom plate 2 is arranged on the frame 1, a driving motor 3 is installed on the bottom plate 2, an output end of the driving motor 3 is connected to a first spherical gear 4, the first spherical gear 4 is meshed with two second spherical gears 5 for transmission, the second spherical gears 6 are connected to fixed blocks 6 at both ends of the bottom plate 2, and the second spherical gears 6 are all transmitted with third spherical gears 7, and the third spherical gears 7 are connected to a support plate 8;

[0110] Telescopic rods 9 in a circular array are arranged on the support plate 8 , and output ends of the telescopic rods 9 are connected to the top plate 10 .

[0111] It should be noted that the user wears the AR device and stands or sits on the support plate 8. When a rotating scene appears in the AR scene, the first spherical gear 4 is driven by the drive motor 6, so that the second spherical gear 5 can rotate through meshing transmission. Under the action of the rotation, the third spherical gear 7 is driven to rotate, thereby causing the support plate 8 to rotate, and the whole process control is more accurate and stable.

[0112] Among them, when the user encounters scenes such as pitching, floating left and right in the AR scene, the support plate 8 is provided with telescopic rods 9 in a circular array. By controlling the extension and retraction of several telescopic rods 9, the pitching, floating left and right and other operations can be controlled. The extension length of the telescopic rods can be set according to the amplitude of the scene, giving the user an immersive experience.

[0113] Furthermore, in the freedom mechanism, the first spherical gear 4 is driven by the driving motor 3 , and the driving motor 3 is fixed on the base plate 2 .

[0114] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0115] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0116] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0117] Those skilled in the art can understand that: all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), disks or optical disks, and other media that can store program codes.

[0118] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

[0119] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A collaborative information interaction method between a three-degree-of-freedom mechanism and an AR device, characterized in that: The following steps are involved: Construct a collaborative information interaction network, integrate the three-degree-of-freedom mechanism and the AR device into the collaborative information interaction network, and obtain the control delay characteristics of each three-degree-of-freedom mechanism of the collaborative information interaction network when setting different data transmission amounts; A genetic algorithm is introduced, and the collaborative information interaction network is configured and optimized in terms of data transmission amount according to the control delay characteristics of each three-degree-of-freedom mechanism when the collaborative information interaction network sets different data transmission amounts, so as to obtain an optimized collaborative information interaction network; Acquire the real-time scene information of each AR device, perform scene recognition on the real-time scene information of the AR device, and obtain the preset scene recognition result; The control logic of each three-degree-of-freedom mechanism is generated according to the preset scene recognition result, and each three-degree-of-freedom mechanism is controlled by transmitting information through the optimized collaborative information interaction network based on the control logic of the three-degree-of-freedom mechanism.

2. The method for collaborative information interaction between a three-degree-of-freedom mechanism and an AR device according to claim 1, characterized in that: Construct a collaborative information interaction network, integrate the three-degree-of-freedom mechanism and the AR device into the collaborative information interaction network, and obtain the control delay characteristics of each three-degree-of-freedom mechanism of the collaborative information interaction network when setting different data transmission amounts, specifically including: Constructing a collaborative information interaction network, configuring communication equipment for the collaborative information interaction network, and obtaining location information of each three-degree-of-freedom mechanism in the current target area and location information of the communication equipment; Calculate the Euclidean distance between each three-degree-of-freedom mechanism and the communication device according to the position information of each three-degree-of-freedom mechanism in the current target area and the position information of the communication device; Acquire information transmission delay characteristic data information at each Euclidean distance when setting different data transmission amounts through big data, and construct a database, and input the information transmission delay characteristic data information at each Euclidean distance when setting different data transmission amounts into the database for storage; The Euclidean distance value between each three-degree-of-freedom mechanism and the communication device is input into the database for data matching, and the information transmission delay characteristic information between each three-degree-of-freedom mechanism and the communication device when different data transmission rates are set is obtained, and used as the control delay characteristic output of each three-degree-of-freedom mechanism by the collaborative information interaction network when different data transmission rates are set.

3. The method for collaborative information interaction between a three-degree-of-freedom mechanism and an AR device according to claim 1, characterized in that: A genetic algorithm is introduced, and the collaborative information interaction network is configured and optimized in terms of data transmission volume according to the control delay characteristics of each three-degree-of-freedom mechanism when the collaborative information interaction network sets different data transmission volumes, so as to obtain an optimized collaborative information interaction network, specifically including: Introducing a genetic algorithm, and setting a genetic algebra according to the genetic algorithm, configuring an information transmission amount for information transmission between each three-degree-of-freedom mechanism and a communication device, and initializing an information transmission amount between each three-degree-of-freedom mechanism and a communication device, and obtaining an information transmission amount combination; Acquire the control delay characteristics of each three-degree-of-freedom mechanism by the collaborative information interaction network when setting different data transmission amounts and the information transmission amount combination; Preset a control delay characteristic threshold, and determine whether there is a three-degree-of-freedom mechanism with a control delay characteristic greater than the control delay characteristic threshold in the collaborative information interaction network, and if not, output an information transmission amount combination; When a three-degree-of-freedom mechanism having a control delay characteristic greater than the control delay characteristic threshold exists in the collaborative information interaction network, the data in the information transmission quantity combination is readjusted until a three-degree-of-freedom mechanism having a control delay characteristic greater than the control delay characteristic threshold no longer exists, thereby generating an optimized collaborative information interaction network.

4. The method for collaborative information interaction between a three-degree-of-freedom mechanism and an AR device according to claim 1, characterized in that: Acquire the real-time scene information of each AR device, perform scene recognition on the real-time scene information of the AR device, and obtain the preset scene recognition result, specifically including: Building a scene information recognition model based on a deep neural network, and obtaining scene information stored in each AR device, dividing the scene information stored in the AR device into a plurality of sub-scene information, and building a training set and a test set according to the sub-scene information; Inputting the training set into the scene information recognition model for training, and when the model parameters of the scene information recognition model meet the preset requirements, saving the model parameters of the scene information recognition model; Testing the scene information recognition model with the test set to obtain the recognition accuracy of the scene information recognition model; when the recognition accuracy of the scene information recognition model is greater than a preset recognition accuracy, the training is completed and the scene information recognition model is output; Configure preset scene information, obtain real-time scene information of each AR device, and input the real-time scene information of each AR device into the scene information recognition model for recognition. When preset scene information exists, output the preset scene recognition result.

5. The method for collaborative information interaction between a three-degree-of-freedom mechanism and an AR device according to claim 1, characterized in that: The control logic of each three-degree-of-freedom mechanism is generated according to the preset scene recognition result, specifically including: By configuring control logic for preset scene information, taking the preset scene information as a first graph node, taking the control logic as a second graph node, and constructing a topology structure graph according to the first graph node and the second graph node; Obtaining a related adjacency matrix through the topological structure diagram, constructing a logic control library, inputting the related adjacency matrix into the logic control library for storage, and inputting the preset scene recognition result into the logic control library for data matching; The control logic of each three-degree-of-freedom mechanism is obtained through data matching, and the control logic of each three-degree-of-freedom mechanism is output as an output result.

6. The method for collaborative information interaction between a three-degree-of-freedom mechanism and an AR device according to claim 1, characterized in that: Based on the control logic of the three-degree-of-freedom mechanism, each three-degree-of-freedom mechanism is controlled by information transmission through the optimized collaborative information interaction network, specifically including: By configuring communication protocol information for each three-degree-of-freedom mechanism and obtaining the communication protocol information of each three-degree-of-freedom mechanism in the target area, basic information of the user wearing the AR device in the target area is obtained; By performing permission authentication on basic information of the user wearing the AR device in the target area, it is determined whether the user wearing the AR device in the target area has relevant permissions; When the user wearing the AR device in the target area has relevant permissions, the control logic of the three-degree-of-freedom mechanism is transmitted to the three-degree-of-freedom mechanism control terminal through the optimized collaborative information interaction network according to the communication protocol information of the three-degree-of-freedom mechanism, and the three-degree-of-freedom mechanism is controlled by the three-degree-of-freedom mechanism control terminal; When the user wearing the AR device in the target area does not have relevant authority, the control logic of the three-degree-of-freedom mechanism is stopped from being transmitted to the three-degree-of-freedom mechanism control terminal through the optimized collaborative information interaction network.

7. The method for collaborative information interaction between a three-degree-of-freedom mechanism and an AR device according to claim 1, characterized in that: The three-degree-of-freedom mechanism comprises: A frame, wherein a bottom plate is arranged on the frame, a driving motor is mounted on the bottom plate, an output end of the driving motor is connected to a first spherical gear, the first spherical gear is meshed with two second spherical gears for transmission, the second spherical gears are connected to fixing blocks at both ends of the bottom plate, and the second spherical gears are both transmitted with a third spherical gear, and the third spherical gear is connected to a support plate; The support plate is provided with telescopic rods in a circumferential array, and the output ends of the telescopic rods are connected to the top plate.

8. The method for collaborative information interaction between a three-degree-of-freedom mechanism and an AR device as claimed in claim 7, characterized in that: The second spherical gear is rotatable.

9. The method for collaborative information interaction between a three-degree-of-freedom mechanism and an AR device according to claim 7, characterized in that: The first spherical gear is driven by a driving motor, and the driving motor is fixed on the bottom plate.

10. A collaborative information interaction system between a three-degree-of-freedom mechanism and an AR device, characterized in that: The system includes a memory and a processor, wherein the memory includes a collaborative information interaction method program between a three-degree-of-freedom mechanism and an AR device, and when the collaborative information interaction method program between the three-degree-of-freedom mechanism and the AR device is executed by the processor, the following steps are implemented: Construct a collaborative information interaction network, integrate the three-degree-of-freedom mechanism and the AR device into the collaborative information interaction network, and obtain the control delay characteristics of each three-degree-of-freedom mechanism of the collaborative information interaction network when setting different data transmission amounts; A genetic algorithm is introduced, and the collaborative information interaction network is configured and optimized in terms of data transmission amount according to the control delay characteristics of each three-degree-of-freedom mechanism when the collaborative information interaction network sets different data transmission amounts, so as to obtain an optimized collaborative information interaction network; Acquire the real-time scene information of each AR device, perform scene recognition on the real-time scene information of the AR device, and obtain the preset scene recognition result; The control logic of each three-degree-of-freedom mechanism is generated according to the preset scene recognition result, and each three-degree-of-freedom mechanism is controlled by transmitting information through the optimized collaborative information interaction network based on the control logic of the three-degree-of-freedom mechanism.

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