Writing movement training data processing method, device, electronic device and storage medium

Abstract

The present application discloses a method, device, electronic device and storage medium for processing writing action training data, the method comprising: obtaining a writing task uploaded by a user device, the writing task carrying writing content; sending a pen-holding instruction to a manipulator according to the writing task, the pen-holding instruction carrying a basic pen-holding posture, the pen-holding instruction being used to instruct the manipulator to adjust the placement and movement angle of each joint on the manipulator according to the basic pen-holding posture; obtaining touch sensing information uploaded by a smart pen; when it is determined according to the touch sensing information that the user's current pen-holding posture meets the correct pen-holding posture, generating a training program according to the writing content and the correct pen-holding posture, the training program comprising a control step for controlling the manipulator to practice the writing content under the correct pen-holding posture; sending a training instruction to the manipulator to instruct the manipulator to execute the training program. The present application is conducive to improving the intelligence of the server in data processing and realizing one-to-one writing teaching for children.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a writing action training data processing method, device, electronic device and storage medium. Background Art

[0002] Writing is an essential skill in our daily life. Everyone needs to learn and write in early childhood. At present, children usually learn to write through the hands-on teaching of parents or teachers. Although real-person tutoring can help children learn to write, real-person tutoring not only cannot guarantee that the writing method taught by parents or teachers is completely correct, but also requires parents and teachers to invest a lot of energy, which increases the pressure on parents and teachers. Summary of the invention

[0003] The embodiments of the present application provide a writing movement training data processing method, device, electronic device and storage medium, in order to improve the intelligence of the server's data processing, realize one-to-one writing teaching for children, and improve the effect of writing practice.

[0004] In a first aspect, an embodiment of the present application provides a writing action training data processing method, which is applied to a server of a hand function training system, wherein the hand function training system includes the server, a user device, a manipulator, and a smart pen, wherein the server is communicatively connected to the user device, the user device is communicatively connected to the manipulator, and the manipulator is communicatively connected to the smart pen, and the method includes:

[0005] Acquire a calligraphy practice task uploaded by the user device, wherein the calligraphy practice task carries calligraphy practice content;

[0006] Sending a pen-holding instruction to the manipulator according to the calligraphy practice task, wherein the pen-holding instruction carries a basic pen-holding posture, and the pen-holding instruction is used to instruct the manipulator to adjust the placement position and movement angle of each joint on the manipulator according to the basic pen-holding posture;

[0007] Acquire touch sensing information uploaded by the smart pen, where the touch sensing information is used to indicate a current contact point of the user's current pen-holding posture on the smart pen;

[0008] When it is determined according to the touch sensing information that the user's current pen-holding posture meets the correct pen-holding posture, a training program is generated according to the calligraphy practice content and the correct pen-holding posture, wherein the training program includes a control step for controlling the manipulator to practice the calligraphy practice content while adopting the correct pen-holding posture;

[0009] A training instruction is sent to the manipulator, wherein the training instruction is used to instruct the manipulator to execute the training plan.

[0010] In a possible example of the first aspect, when determining, according to the touch sensing information, that the user's current pen-holding posture conforms to the correct pen-holding posture, generating a training program according to the calligraphy practice content and the correct pen-holding posture includes:

[0011] Determining the target characters in the calligraphy practice content;

[0012] Performing stroke splitting on the target character to obtain the stroke content and stroke sequence of the target character;

[0013] Determine the joint movement position and movement direction of the manipulator for a single stroke according to the stroke content and the stroke sequence;

[0014] The training program is generated according to the correct pen-holding posture, the joint movement position and the movement direction corresponding to each stroke of the target character.

[0015] In a possible example of the first aspect, determining a joint movement position and a movement direction of the manipulator for a single stroke according to the stroke content and the stroke sequence includes:

[0016] Acquire first image information uploaded by the smart pen;

[0017] determining a writing range according to the first image information;

[0018] Determining the writing size of the target character according to the writing range;

[0019] The joint movement position and movement direction of the manipulator for a single stroke are determined according to the writing size, the stroke content and the stroke sequence.

[0020] In a possible example of the first aspect, before sending the training instruction to the manipulator, the method further includes:

[0021] Acquire second image information uploaded by the smart pen;

[0022] Determine a current pen tip position of the smart pen according to the second image information;

[0023] Determine whether the current pen tip position is at a target starting position, where the target starting position is the starting position of the first stroke in the brush sequence for writing the target character;

[0024] If it is at the target starting position, sending a training instruction to the manipulator;

[0025] If it is not at the target starting position, determine the position distance between the current pen tip position and the target starting position; and generate position adjustment information according to the position distance, wherein the position adjustment information is used to prompt the user to move the pen tip of the smart pen to the target starting position.

[0026] In a possible example of the first aspect, the determining whether the current pen tip position is before the target starting position, the method further includes:

[0027] Determine whether there is existing text at the current pen tip position according to the second image information;

[0028] When the existing text exists at the current pen tip position, determining a blank area closest to the existing text, and determining the blank area as a target writing area;

[0029] Determining a position structure of the first stroke in the target character;

[0030] The target starting position corresponding to the target writing area is determined according to the position structure.

[0031] In a possible example of the first aspect, after sending the training instruction to the manipulator, the method further includes:

[0032] Acquire a first movement trajectory uploaded by the smart pen, where the first movement trajectory is a trajectory of movement of the smart pen when the manipulator executes the training program;

[0033] generating a second movement trajectory according to the joint movement position and movement direction of the manipulator, wherein the second movement trajectory is a movement trajectory of the manipulator when the manipulator executes the training program;

[0034] Determine whether the first movement trajectory matches the second movement trajectory, and when the first movement trajectory does not match the second movement trajectory, send a grip adjustment instruction to the manipulator, wherein the grip adjustment instruction is used to adjust the strength with which the user holds the pen.

[0035] In a possible example of the first aspect, when it is determined according to the touch sensing information that the user's current pen-holding posture meets the correct pen-holding posture, before generating a training program according to the calligraphy practice content and the correct pen-holding posture, the method further includes:

[0036] Acquire a target contact point, where the target contact point is a contact point on the smart pen corresponding to the correct pen-holding posture;

[0037] Determining whether the current contact point matches the target contact point;

[0038] If yes, determining that the current pen-holding posture of the user meets the correct pen-holding posture;

[0039] If not, determining a target distance between the current contact point and the target contact point;

[0040] Generate pen-holding prompt information according to the target distance, wherein the pen-holding prompt information is used to prompt the user to adjust the pen-holding position to conform to the correct pen-holding posture;

[0041] A pen holding prompt instruction is sent to the user equipment, where the pen holding prompt instruction is used to instruct the user equipment to output the pen holding prompt information.

[0042] In a second aspect, an embodiment of the present application provides a writing movement training data processing device, which is applied to a server of a hand function training system, wherein the hand function training system includes the server, a user device, a manipulator, and a smart pen, wherein the server is communicatively connected to the user device, the user device is communicatively connected to the manipulator, the manipulator is communicatively connected to the smart pen, and the writing movement training data processing device includes:

[0043] A first acquisition unit is used to acquire a calligraphy practice task uploaded by the user device, wherein the calligraphy practice task carries calligraphy practice content;

[0044] A first sending unit is used to send a pen-holding instruction to the manipulator according to the calligraphy practice task, wherein the pen-holding instruction carries a basic pen-holding posture, and the pen-holding instruction is used to instruct the manipulator to adjust the placement position and movement angle of each joint on the manipulator according to the basic pen-holding posture;

[0045] A second acquisition unit, configured to acquire touch sensing information uploaded by the smart pen, wherein the touch sensing information is used to indicate a current contact point of the user's current pen-holding posture on the smart pen;

[0046] a generating unit, configured to generate a training program according to the calligraphy practice content and the correct pen-holding posture when it is determined according to the touch sensing information that the user's current pen-holding posture conforms to the correct pen-holding posture, wherein the training program includes a control step for controlling the manipulator to practice the calligraphy practice content while adopting the correct pen-holding posture;

[0047] The second sending unit is used to send a training instruction to the manipulator, where the training instruction is used to instruct the manipulator to execute the training plan.

[0048] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the first aspect of the embodiment of the present application.

[0049] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium that stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute some or all of the steps described in the first aspect of this embodiment.

[0050] It can be seen that in the present embodiment, the server obtains a calligraphy practice task uploaded by a user device, the calligraphy practice task carries calligraphy practice content; sends a pen-holding instruction to the manipulator according to the calligraphy practice task, the pen-holding instruction carries a basic pen-holding posture, and the pen-holding instruction is used to instruct the manipulator to adjust the placement position and movement angle of each joint on the manipulator according to the basic pen-holding posture; obtains touch sensing information uploaded by the smart pen, the touch sensing information is used to indicate the current contact point of the user's current pen-holding posture on the smart pen; when it is determined according to the touch sensing information that the user's current pen-holding posture meets the correct pen-holding posture, a training plan is generated according to the calligraphy practice content and the correct pen-holding posture, the training plan includes control steps for controlling the manipulator to practice the calligraphy practice content while adopting the correct pen-holding posture; sends a training instruction to the manipulator, the training instruction is used to instruct the manipulator to execute the training plan. It can be seen that the present application can instruct the robot to assist the user to hold the pen in the correct pen-holding posture through the pen-holding instruction, thereby generating a training plan based on the correct pen-holding posture according to the calligraphy practice content and the correct pen-holding posture for practice, which is conducive to realizing the robot's auxiliary calligraphy practice function, improves the intelligence and reliability of the robot's processing of calligraphy practice data, and can realize one-on-one writing teaching for users, thereby reducing manpower while improving training effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present application 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 It is a schematic diagram of the architecture of a hand function training system provided in an embodiment of the present application;

[0053] Figure 2 It is a structural schematic diagram of a manipulator provided in an embodiment of the present application;

[0054] Figure 3It is a flowchart of a writing movement training data processing method provided in an embodiment of the present application;

[0055] Figure 4 This is a schematic diagram of an interface for initiating a calligraphy practice task provided in an embodiment of the present application;

[0056] Figure 5 is a schematic diagram of an interface of a pen holding detection interface provided in an embodiment of the present application;

[0057] Figure 6 is a composition example diagram of an electronic device provided in an embodiment of the present application;

[0058] Figure 7 It is a functional unit composition block diagram of a first writing movement training data processing device provided in an embodiment of the present application;

[0059] Figure 8 It is a block diagram of the functional units of a second writing movement training data processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0061] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0062] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0063] The embodiments of the present application are described below with reference to the accompanying drawings.

[0064] The technical solution of this application can be applied to Figure 1 The hand function training system 10 shown includes a server 110, a user device 120, a manipulator 130 and a smart pen 140. The server 110 is communicatively connected to the user device 120, the user device 120 is communicatively connected to the manipulator 130, and the manipulator 130 is communicatively connected to the smart pen 140. In a specific implementation, the user of the user device 120 and the user of the manipulator 130 may be different people. For example, the user of the user device 120 is a parent, and the user of the manipulator 130 is a child who needs to practice calligraphy. Alternatively, the user of the user device 120 and the user of the manipulator 130 may be the same person, for example, both are teenagers or adults who have hand injuries and need to practice calligraphy.

[0065] Among them, the server 110 can be an outsourced server, a cloud server, an edge server, an intelligent robot, etc., which is not limited here.

[0066] The user device 120 may be a terminal device configured with a software application corresponding to the hand function rehabilitation training device provided by the server 110, and the user device 120 may realize the relevant functions of the software application by communicating with the server 110. For example, the user device 120 may be a smart phone (such as an Android phone, an iOS phone, a Windows Phone phone, etc.), a smart computer (such as a tablet computer, a PDA, a laptop computer, a desktop computer, etc.), a driving recorder, a mobile Internet device (MID, Mobile Internet Devices) or a wearable device (such as a smart watch, a Bluetooth headset), etc. The above are only examples, not exhaustive, and include but are not limited to the above electronic devices.

[0067] In a specific implementation, the manipulator 130 may be configured with a communication unit, which may be used to communicate with the user device 120 and the smart pen 140 to receive control instructions from the user device, thereby controlling each joint of the manipulator to be trained according to the parameter information of the control scheme carried by the control instructions. Specifically, the user device may be a smart phone or smart computer equipped with a software application corresponding to the manipulator, and the manipulator may be connected to the user device via Bluetooth to receive the control instructions issued by the user device, thereby reducing production costs and ensuring the reliability of training.

[0068] Please refer to FIG. 2 , which is a schematic diagram of the structure of a manipulator provided in an embodiment of the present application. Figure 2It is an example structure of a manipulator. Specifically, the example structure 20 includes multiple joint drivers 21, a palm fixing belt 22 and a finger fixing belt 23. Each finger of the example structure 20 corresponds to at least one joint driver 21. The joint driver 21 outputs driving information based on the control instruction issued by the user device 120, so that the corresponding finger on the example structure 20 moves, so that the example structure 20 can perform training actions. When the user uses the example structure 20 for writing practice, the palm fixing belt 22 and the finger fixing belt 23 are used to bind the hand used for writing to the example structure 20, and then the example structure 20 performs training actions based on the control instruction, and drives the user's hand to perform corresponding training actions, so as to realize the user's passive training.

[0069] See also Figure 3 , Figure 3 is a flowchart of a writing action training data processing method provided by an embodiment of the present application. The method can be applied in Figure 1 The server 110 in the hand function training system shown in FIG. Figure 3 As shown, the writing action training data processing method includes:

[0070] Step S310, obtaining the calligraphy practice task uploaded by the user device.

[0071] The calligraphy practice task includes calligraphy practice content, which may be specific characters, the number of times characters are written, and the like.

[0072] Specifically, the calligraphy practice content may be content input through a calligraphy practice task generation interface displayed by a user device. Figure 4 When the user wants to initiate a calligraphy practice task, the user can input the calligraphy practice content in the form of text input through the content input control 411 in the calligraphy practice task generation interface 410. Alternatively, the user can input the calligraphy practice content in the form of file upload through the upload file control 412 in the calligraphy practice task generation interface 410. The file can be in word, pdf, jpg and other formats, and no further restrictions are made here. When the calligraphy practice content is input, the user can trigger the confirmation control 413 to generate a calligraphy practice task carrying the calligraphy practice content and upload the calligraphy practice task to the server.

[0073] Step S320, sending a pen holding instruction to the robot arm according to the calligraphy practice task.

[0074] Among them, the pen-holding instruction carries a basic pen-holding posture, and the pen-holding instruction is used to instruct the manipulator to adjust the placement position and movement angle of each joint on the manipulator according to the basic pen-holding posture.

[0075] Specifically, the server may first send the pen holding instruction to the user device, so as to forward it to the manipulator via the user device, thereby instructing the manipulator to operate according to the pen holding instruction. Alternatively, if the server is also directly connected to the manipulator in communication, the server may send the pen holding instruction directly to the manipulator.

[0076] Specifically, after receiving the pen-holding instruction, the robot arm can adjust the placement position and movement angle of each joint according to the basic pen-holding posture carried by the pen-holding instruction, so as to drive the writing user's hand movement and realize pen-holding guidance teaching for the writing user.

[0077] In a specific implementation, while sending a pen-holding instruction to the robot according to the calligraphy practice task, the user device can display Figure 5 The pen holding detection interface 510 shown includes a pen holding prompt content 511, and the pen holding prompt content 511 is used to guide children, parents or patients with understanding ability to know the correct pen holding action and pen holding method, so as to complete the basic pen holding posture based on the pen holding prompt content 511 and with the assistance of the manipulator. After completing the pen holding, the user can trigger the confirmation control 512 of the pen holding detection interface 510 to enable the smart pen to upload touch sensing information to the server. Alternatively, the smart pen can automatically detect and feed back the detection results to the server. For example, if the smart pen detects that the user no longer adjusts the pen holding posture within a preset time after completing the pen holding, it indicates that the detection is completed, and the smart pen can upload the touch sensing information to the server.

[0078] Step S330, acquiring touch sensing information uploaded by the smart pen.

[0079] The touch sensing information is used to indicate the current contact point of the user's current pen-holding posture on the smart pen.

[0080] In a specific implementation, after the robot arm drives the user's hand to move according to the pen-holding instruction, the smart pen can collect the current contact point of the user's current pen-holding posture on the smart pen, thereby generating touch sensing information and uploading the touch sensing information to the server.

[0081] Specifically, when uploading information to the server, the smart pen may first transmit the touch sensing information to the robot, so as to transmit it to the user device through the robot, and then report it to the server. Alternatively, if the robot is also directly connected to the server, the smart pen may directly upload the touch sensing information to the server through the robot after transmitting the touch sensing information to the robot. Alternatively, if the smart pen is also directly connected to the server, the smart pen may directly upload the touch sensing information to the server.

[0082] Step S340, when it is determined according to the touch sensing information that the user's current pen-holding posture conforms to the correct pen-holding posture, a training program is generated according to the calligraphy practice content and the correct pen-holding posture.

[0083] The correct pen-holding posture is used to represent the target contact point of the user's pen-holding touch point on the smart pen. The target contact point is the contact point on the smart pen corresponding to the correct pen-holding posture.

[0084] The training program includes a control step for controlling the manipulator to practice the calligraphy content in a correct pen-holding posture. The control step is used to characterize the step of controlling the manipulator's moving direction and joint moving position. The joint moving position can be characterized by the joint angle. The manipulator's moving direction is characterized by the palm moving direction and the finger joint moving direction.

[0085] In one possible example, when it is determined according to the touch sensing information that the user's current pen-holding posture conforms to the correct pen-holding posture, before generating a training plan according to the calligraphy practice content and the correct pen-holding posture, the method also includes: obtaining a target contact point, wherein the target contact point is the contact point on the smart pen corresponding to the correct pen-holding posture; determining whether the current contact point conforms to the target contact point; if so, determining that the user's current pen-holding posture conforms to the correct pen-holding posture; if not, determining a target distance between the current contact point and the target contact point; generating pen-holding prompt information according to the target distance, wherein the pen-holding prompt information is used to prompt the user to adjust the pen-holding position to conform to the correct pen-holding posture; and sending a pen-holding prompt instruction to the user device, wherein the pen-holding prompt instruction is used to instruct the user device to output the pen-holding prompt information.

[0086] In a specific implementation, since the smart pen has a certain length, when the basic pen-holding posture is used to hold the pen, there may be a deviation from the pen-holding position corresponding to the correct pen-holding posture. Therefore, after acquiring the touch sensing information, the target contact point can be further acquired. The current contact point and the target contact point are thereby compared to determine whether the position corresponding to the current contact point matches the position corresponding to the target contact point. If they match, it indicates that the user's current pen-holding posture is the correct pen-holding posture, and at this time a training plan can be generated directly based on the calligraphy practice content. If they do not match, it indicates that the user's current pen-holding posture is incorrect and needs to be corrected.

[0087] Specifically, when it is determined that the user's pen-holding posture needs to be corrected, the server can further compare the target contact point and the current contact point to determine the target distance between the two, and thus determine the direction and distance that the various joints of the manipulator should move when correcting from the current contact point to the target contact point based on the target distance, and generate pen-holding prompt information based on the direction and distance to provide the user with an adjustment plan to correct the pen-holding position.

[0088] Specifically, the server may send a pen-holding prompt instruction to the user device to output the pen-holding prompt information through at least one of a display and a speaker of the user device. Alternatively, if the smart pen or the manipulator is equipped with a speaker, the server may also send a pen-holding prompt instruction to the smart pen or the manipulator to instruct the speaker to output the pen-holding prompt information, thereby prompting the user to correct the pen-holding position.

[0089] It can be seen that in this example, by comparing the current contact point with the target contact point, when the two are inconsistent, the pen holding prompt information can be output to prompt the user to correct the pen holding posture. This is conducive to improving the intelligence of the server in data processing, ensuring the correctness of the user's pen holding posture, and optimizing the effect of calligraphy practice.

[0090] Step S350, sending a training instruction to the robot.

[0091] Among them, the training instructions are used to instruct the manipulator to execute the training plan to control the movement of each joint of the manipulator according to the control steps, thereby driving the user's hand to practice writing, thereby achieving the purpose of guided teaching.

[0092] In a specific implementation, the training instruction can be forwarded to the manipulator through the user device. Specifically, after the server generates the training plan, the content of the training plan can be displayed through the display of the user device so that the user can confirm the training content, thereby improving the reliability of the training. After the user confirms through the user device, the user device can send the training instruction carrying the training plan to the manipulator.

[0093] In a specific implementation, while sending training instructions to the robot, the user device can jump to a training interface (not shown), which includes a content presentation space. The content presentation control can display the content of the training plan through text, pictures or videos, so as to further assist the user in writing training.

[0094] It can be seen that in the present embodiment, the server obtains a calligraphy practice task uploaded by a user device, the calligraphy practice task carries calligraphy practice content; sends a pen-holding instruction to the manipulator according to the calligraphy practice task, the pen-holding instruction carries a basic pen-holding posture, and the pen-holding instruction is used to instruct the manipulator to adjust the placement position and movement angle of each joint on the manipulator according to the basic pen-holding posture; obtains touch sensing information uploaded by the smart pen, the touch sensing information is used to indicate the current contact point of the user's current pen-holding posture on the smart pen; when it is determined according to the touch sensing information that the user's current pen-holding posture meets the correct pen-holding posture, a training plan is generated according to the calligraphy practice content and the correct pen-holding posture, the training plan includes control steps for controlling the manipulator to practice the calligraphy practice content while adopting the correct pen-holding posture; sends a training instruction to the manipulator, the training instruction is used to instruct the manipulator to execute the training plan. It can be seen that the present application can instruct the robot to assist the user to hold the pen in the correct pen-holding posture through the pen-holding instruction, so as to generate a training plan based on the correct pen-holding posture according to the calligraphy practice content and the correct pen-holding posture for practice, which is conducive to realizing the auxiliary calligraphy practice function of the robot, improves the intelligence and reliability of the robot's processing of calligraphy practice data, and can realize one-on-one writing teaching for users, thereby reducing manpower while improving the training effect.

[0095] In one possible example, when it is determined according to the touch sensing information that the user's current pen-holding posture conforms to the correct pen-holding posture, a training plan is generated according to the calligraphy practice content and the correct pen-holding posture, including: determining the target text in the calligraphy practice content; splitting the target text into strokes to obtain the stroke content and stroke order of the target text; determining the joint movement position and movement direction of the manipulator for a single stroke according to the stroke content and the stroke order; and generating the training plan according to the correct pen-holding posture, the joint movement position and the movement direction corresponding to each stroke of the target text.

[0096] The joint movement position refers to the change in the joint angle of each joint of the manipulator when it moves from the starting point position of a single stroke to the end point position based on the correct pen holding posture. The movement direction refers to the direction in which the starting point position of a single stroke moves to the end point position.

[0097] Among them, the target text in the calligraphy practice content can be one or more, which can be set according to the practice needs and no further restrictions are made here.

[0098] In a specific implementation, when the target text is one, the target text can be directly split into strokes to obtain the stroke content and stroke order corresponding to the target text. For example, if the target text is "three", the stroke content is three horizontal strokes, and the stroke order corresponding to these three horizontal strokes is sorted from top to bottom. For a single stroke content, the server can first determine the starting point and end point of the single stroke content, and then determine the joint movement position and movement direction of the manipulator corresponding to the stroke based on the correct pen holding posture according to the starting point and end point. After determining the joint movement position and movement direction of all strokes of the target text, the beginning and end of the two adjacent strokes can be connected and transitioned according to the stroke order to determine the direction and position of movement when transitioning between the two adjacent strokes. Thereby, a training plan is generated according to the correct pen holding posture, the joint movement position and movement direction corresponding to each stroke of the target text.

[0099] In a specific implementation, when there are multiple target characters, the above scheme can be used to obtain the joint movement position and movement direction corresponding to each stroke of each character. Then, based on the above scheme, the end point of the last stroke of the previous character and the starting point of the first stroke of the next character are connected to generate the movement direction and position when transitioning between different characters. In this way, a training scheme is generated according to the correct pen holding posture, the joint movement position and movement direction corresponding to each stroke of the target character.

[0100] It can be seen that in this example, by splitting the target text into strokes, the stroke content and stroke order of the target text are obtained, and then the joint movement position and movement direction corresponding to a single stroke are determined according to the stroke content and stroke order, and then a training plan is generated according to the correct pen holding posture and the joint movement position and movement direction corresponding to each stroke of the target text. This is conducive to improving the intelligence and reliability of the server's processing of training content, ensuring the continuity and accuracy of writing training, and improving the training effect.

[0101] In a possible example, determining the joint movement position and movement direction of the manipulator for a single stroke based on the stroke content and the stroke order includes: acquiring first image information uploaded by the smart pen; determining a writing range based on the first image information; determining a writing size of the target text based on the writing range; and determining the joint movement position and movement direction of the manipulator for a single stroke based on the writing size, the stroke content, and the stroke order.

[0102] Specifically, the smart pen may be equipped with a camera for capturing images of writing paper, which helps to assist in identifying written content and improve training results.

[0103] The first image information is image information collected by the camera of the smart pen.

[0104] Specifically, after acquiring the first image information, the server can identify whether there is a calligraphy practice grid (such as a Tianzi grid, a Mizi grid, etc.) on the writing paper based on the first image information. If there is no calligraphy practice grid, the writing size of the target text can be determined as a pre-stored standard size, which is smaller than the size of the writing paper. Alternatively, if there is a Tianzi grid on the writing paper, the server can determine the size of a single calligraphy practice grid as the writing range of the target text, and then determine the writing size of the target text based on the writing range. In this way, the position and direction of the joint movement of the manipulator for a single stroke are combined with the stroke content and stroke sequence of the target text to ensure that when the user performs writing exercises according to the training plan, the target text will not exceed the writing range corresponding to the calligraphy practice grid.

[0105] Among them, in the process of determining the joint movement position and movement direction of the robot for a single stroke according to the writing size, stroke content and stroke order, the joint movement position and movement direction of a single stroke can be further determined in combination with the text structure of the target text to avoid some strokes being too long or too short, affecting the font shape.

[0106] It can be seen that in this example, the writing range is determined by the first image information, and the writing size of the target text is determined according to the writing range, so as to determine the joint movement position and movement direction of the manipulator for a single stroke according to the shoe size, stroke content and stroke order, which is conducive to improving the accuracy of the joint movement position and movement direction obtained by the server processing, thereby improving the accuracy of writing and optimizing the writing effect.

[0107] In a possible example, before sending the training instruction to the manipulator, the method also includes: acquiring second image information uploaded by the smart pen; determining the current pen tip position of the smart pen based on the second image information; determining whether the current pen tip position is at the target starting position, the target starting position being the starting position of the first stroke in the brush sequence corresponding to the target text; if it is at the target starting position, sending the training instruction to the manipulator; if it is not at the target starting position, determining the position distance between the current pen tip position and the target starting position; and generating position adjustment information based on the position distance, the position adjustment information being used to prompt the user to move the pen tip of the smart pen to the target starting position.

[0108] The second image information is image information collected by a camera of the smart pen. The current pen tip position is used to represent the relative position between the pen tip of the smart pen and the writing paper.

[0109] In a specific implementation, the server can determine the current pen tip position of the smart pen according to the second image information, and then compare the current pen tip position with the target starting position to determine whether the user is ready. If the current pen tip position is consistent with the target starting position, it means that the user is ready. At this time, a training instruction can be sent to the manipulator to enable the user to perform writing training. If the current pen tip position is inconsistent with the target starting position, it means that the user is not ready. At this time, the server can generate position adjustment information to prompt the user to move the pen tip position of the smart pen to the target starting position.

[0110] Specifically, generating position adjustment information according to the position spacing includes: comparing the position spacing with a preset spacing; if the position spacing is less than or equal to the preset spacing, it indicates that the pen tip is close to the target starting position, and the server can determine the adjustment movement position and the adjustment movement direction according to the current pen tip position and the target starting position; and sending a first position adjustment instruction to the manipulator, the first position adjustment instruction is used to instruct the manipulator to move according to the adjustment movement position and the adjustment movement direction, so as to drive the smart pen to move so that the pen tip of the smart pen moves to the target starting position. At this time, the position adjustment information can be the adjustment movement position and the adjustment movement direction. If the position spacing is greater than the preset spacing, it indicates that the pen tip is far from the target starting position, and the server can send a position prompt instruction to the user device (or the smart pen and the manipulator), the position prompt instruction is used to instruct the user device (or the smart pen and the manipulator) to output position prompt information, and the position prompt information is used to prompt the user to adjust the writing position, so as to drive the smart pen to move so that the distance between the pen tip of the smart pen and the target starting position is less than or equal to the preset spacing. At this time, the position adjustment information can be position prompt information. When the spacing is less than or equal to the preset spacing, the tip of the smart pen can be moved and adjusted to the target starting position in the manner corresponding to the situation where the spacing is less than or equal to the preset spacing.

[0111] Specifically, the preset distance mentioned above can be determined according to the camera range of the smart pen. For example, the preset distance can be the maximum camera distance of the smart pen.

[0112] It can be seen that in this example, before sending a training instruction to the manipulator and letting the user train according to the training plan, by identifying and comparing the second graphic information, it can be determined whether the current pen tip position of the smart pen is at the target starting position, so as to generate position adjustment information when the pen tip is not at the target starting position, so as to prompt the user to move the pen tip of the smart pen to the target starting position. In this way, it can be ensured that when the user trains according to the training plan, the content written by the user is within the specified position area, which can ensure the neatness and orderliness of the training and improve the intelligence of the server in data processing.

[0113] In one possible example, the method of determining whether the current pen tip position is before the target starting position also includes: determining whether there is existing text at the current pen tip position based on the second image information; when the existing text exists at the current pen tip position, determining a blank area closest to the existing text, and determining the blank area as a target writing area; determining a position structure of the first stroke in the target text; and determining a target starting position corresponding to the target writing area based on the position structure.

[0114] The existing characters refer to the characters that have been written on the writing paper. The blank area refers to the area on the writing paper where no content is written. The position structure is used to represent the area and proportion where the first stroke corresponds to the target character.

[0115] In a specific implementation, when the server obtains the second image information, it can first identify and analyze the second image to determine whether there is existing text at the current pen tip position. If there is existing text at the current pen tip position, it indicates that the position is not suitable for writing. At this time, the blank area closest to the existing text can be identified according to the second image information, and the blank area is determined as the target writing area. If it is determined that there is no blank area according to the second image information, a movement prompt instruction can be sent to the user device (or smart pen and manipulator), and the movement prompt instruction is used to instruct the user device (or smart pen and manipulator) to output movement prompt information, and the movement prompt information is used to prompt the user to find a blank area as the target writing area. Specifically, if there is no existing text at the current pen tip position, it indicates that the current pen tip position is a blank area, and at this time, the position can be used as the target writing area.

[0116] Specifically, after the target writing area (i.e., the writing range, such as a single grid) is determined, the position structure of the first stroke in the target text can also be determined, and then the target starting position in the target writing area, i.e., the position of the starting point of the first stroke, can be determined based on the position structure combined with the writing size of the target text.

[0117] It can be seen that in this example, the server determines whether there is existing text at the current pen tip position based on the second image information, and thus when there is existing text at the current pen tip position, determines the blank area closest to the existing text, and determines the blank area as the target writing area, so as to determine the target starting position corresponding to the target writing area, which is helpful to assist in the subsequent determination of whether the current pen tip position and the target starting position are consistent. At the same time, determining the target starting position through the position structure of the first stroke in the target text is helpful to optimize the presentation effect of the target text, improve the reliability of the training program generated by the server, and optimize the training effect.

[0118] In one possible example, after sending the training instruction to the manipulator, the method also includes: obtaining a first movement trajectory uploaded by the smart pen, the first movement trajectory being the trajectory of the smart pen when the manipulator executes the training plan; generating a second movement trajectory according to the joint movement position and movement direction of the manipulator, the second movement trajectory being the trajectory of the manipulator when the manipulator executes the training plan; determining whether the first movement trajectory and the second movement trajectory match, and when the first movement trajectory and the second movement trajectory do not match, sending a grip adjustment instruction to the manipulator, the grip adjustment instruction being used to adjust the strength with which the user holds the pen.

[0119] Among them, the grip force adjustment instruction is used to instruct the robot to adjust the joint angle to adjust the strength of the user's grip on the pen.

[0120] Specifically, after the user has trained according to the training plan and reached the preset conditions, the first moving trajectory uploaded by the smart pen and the second moving trajectory uploaded by the manipulator can be obtained. The first moving trajectory and the second moving trajectory are compared to see if they match. If they match, it indicates that the writing trajectory of the smart pen and the moving trajectory of the manipulator are consistent. At this time, the training plan can be continued according to the current state to perform writing training. If the first moving trajectory and the second moving trajectory do not match, it indicates that the writing trajectory of the smart pen and the moving trajectory of the manipulator are inconsistent. The reason for the inconsistency is usually that the user's grip on the smart pen is weak, resulting in the friction between the smart pen and the writing paper affecting the writing trajectory of the smart pen. At this time, a grip adjustment instruction can be sent to the manipulator to instruct the manipulator to drive the user's hand by adjusting the joint angle, increase the grip, and thus optimize the writing effect.

[0121] Specifically, the above-mentioned preset condition may be that the user has written a preset number of strokes or characters, so as to improve the timeliness of the server identifying abnormal writing conditions.

[0122] Specifically, when it is determined that the first movement trajectory and the second movement trajectory are inconsistent, the server can determine the target joint used by the user to hold the pen according to the correct pen-holding posture, and then adjust the joint angle of the target joint according to the preset angle increment value. After the adjustment is completed, the server can continue to monitor the first movement trajectory and the second movement trajectory, and adjust again when the two still do not match until the first movement trajectory and the second movement trajectory match.

[0123] It can be seen that in this example, by sending grip adjustment instructions to the robot when the first movement trajectory and the second movement trajectory do not match, it is beneficial to improve the intelligence of the server's data processing, improve the responsiveness of the hand function training system, improve the reliability and accuracy of the user's writing training, and optimize the training effect.

[0124] The electronic device 60 in the present application may be structured as follows: Figure 6 As shown, the electronic device 60 is a server, which can be used to execute the above method. Specifically, the electronic device 60 may include a processor 610, a memory 620, a communication interface 630, and one or more programs 621, wherein the one or more programs 621 are stored in the above memory 620 and are configured to be executed by the above processor 610, and the one or more programs 621 include instructions for executing any step in the above method embodiment.

[0125] Among them, the communication interface 630 is used to support the communication between the electronic device 60 and other devices. The processor 610 can be, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, units and circuits described in conjunction with the disclosure of the embodiments of the present application. The processor can also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0126] The memory 620 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Among them, the nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SynchLink DRAM, SLDRAM), and direct memory bus random access memory (Direct Rambus RAM, DRRAM).

[0127] In a specific implementation, the processor 610 is used to execute any step in the above method embodiment, and when performing data transmission such as sending, the communication interface 630 can be selectively called to complete the corresponding operation.

[0128] It should be noted that the structural diagram of the above-mentioned electronic device 60 is only an example, and the specific components included may be more or less, and no sole limitation is made here.

[0129] The present application can divide the functional units of the electronic device according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0130] Figure 7 1 is a functional unit block diagram of a first writing movement training data processing device provided in an embodiment of the present application. The first writing movement training data processing device 70 includes:

[0131] A first acquisition unit 710 is used to acquire a calligraphy practice task uploaded by the user device, wherein the calligraphy practice task carries calligraphy practice content;

[0132] A first sending unit 720 is used to send a pen-holding instruction to the manipulator according to the calligraphy practice task, wherein the pen-holding instruction carries a basic pen-holding posture, and the pen-holding instruction is used to instruct the manipulator to adjust the placement position and movement angle of each joint on the manipulator according to the basic pen-holding posture;

[0133] A second acquisition unit 730 is used to acquire touch sensing information uploaded by the smart pen, where the touch sensing information is used to indicate a current contact point of the user's current pen-holding posture on the smart pen;

[0134] A generating unit 740 is configured to generate a training program according to the calligraphy practice content and the correct pen-holding posture when it is determined according to the touch sensing information that the user's current pen-holding posture meets the correct pen-holding posture, wherein the training program includes a control step for controlling the manipulator to practice the calligraphy practice content while adopting the correct pen-holding posture;

[0135] The second sending unit 750 is used to send a training instruction to the robot, where the training instruction is used to instruct the robot to execute the training plan.

[0136] In one possible example, when determining that the user's current pen-holding posture conforms to the correct pen-holding posture according to the touch sensing information, in terms of generating a training plan according to the calligraphy practice content and the correct pen-holding posture, the generation unit is specifically used to: determine the target text in the calligraphy practice content; split the target text into strokes to obtain the stroke content and stroke order of the target text; determine the joint movement position and movement direction of the manipulator for a single stroke according to the stroke content and the stroke order; generate the training plan according to the correct pen-holding posture, the joint movement position and the movement direction corresponding to each stroke of the target text.

[0137] In one possible example, in terms of determining the joint movement position and movement direction of the manipulator for a single stroke based on the stroke content and the stroke order, the generation unit is specifically used to: obtain first image information uploaded by the smart pen; determine a writing range based on the first image information; determine a writing size of the target text based on the writing range; determine the joint movement position and movement direction of the manipulator for a single stroke based on the writing size, the stroke content and the stroke order.

[0138] In one possible example, the first writing action training data processing device also includes a position determination unit, which is used to obtain second image information uploaded by the smart pen before sending a training instruction to the manipulator; determine the current pen tip position of the smart pen according to the second image information; determine whether the current pen tip position is at the target starting position, and the target starting position is the starting position of the first stroke in the brush sequence corresponding to the target text; if it is at the target starting position, send a training instruction to the manipulator; if it is not at the target starting position, determine the position distance between the current pen tip position and the target starting position; and generate position adjustment information according to the position distance, and the position adjustment information is used to prompt the user to move the pen tip of the smart pen to the target starting position.

[0139] In a possible example, the position determination unit is specifically used to: before determining whether the current pen tip position is at the target starting position, determine whether there is existing text at the current pen tip position based on the second image information; when the existing text exists at the current pen tip position, determine the blank area closest to the existing text, and determine the blank area as the target writing area; determine the position structure of the first stroke in the target text; and determine the target starting position corresponding to the target writing area based on the position structure.

[0140] In one possible example, the first writing action training data processing device also includes a matching unit, wherein the matching unit is used to obtain a first movement trajectory uploaded by the smart pen after sending a training instruction to the manipulator, wherein the first movement trajectory is the trajectory of the smart pen when the manipulator executes the training program; generate a second movement trajectory according to the joint movement position and movement direction of the manipulator, wherein the second movement trajectory is the trajectory of the manipulator when the manipulator executes the training program; determine whether the first movement trajectory and the second movement trajectory match, and when the first movement trajectory and the second movement trajectory do not match, send a grip adjustment instruction to the manipulator, wherein the grip adjustment instruction is used to adjust the strength with which the user holds the pen.

[0141] In one possible example, the first writing action training data processing device also includes a posture determination unit, and the posture determination unit is used to obtain a target contact point before generating a training plan according to the calligraphy practice content and the correct pen-holding posture when it is determined that the user's current pen-holding posture conforms to the correct pen-holding posture according to the touch sensing information, and the target contact point is the contact point on the smart pen corresponding to the correct pen-holding posture; determine whether the current contact point conforms to the target contact point; if so, determine that the user's current pen-holding posture conforms to the correct pen-holding posture; if not, determine the target distance between the current contact point and the target contact point; generate pen-holding prompt information according to the target distance, and the pen-holding prompt information is used to prompt the user to adjust the pen-holding position to conform to the correct pen-holding posture; send a pen-holding prompt instruction to the user device, and the pen-holding prompt instruction is used to instruct the user device to output the pen-holding prompt information.

[0142] In the case of using an integrated unit, the functional unit composition block diagram of the second writing movement training data processing device provided in the embodiment of the present application is as follows: Figure 8 As shown. Figure 8 In the embodiment, the second writing movement training data processing device 80 includes: a processing module 820 and a communication module 810. The processing module 820 is used to control and manage the actions of the first writing movement training data processing device 70, for example, the steps performed by the first acquisition unit 710, the first sending unit 720, the second acquisition unit 730, the generation unit 740 and the second sending unit 750, and / or other processes for performing the technology described herein. The communication module 810 is used to support the interaction between the second writing movement training data processing device 80 and other devices. Figure 8 As shown, the second writing movement training data processing device 80 may further include a storage module 830 , and the storage module 830 is used to store program codes and data of the second writing movement training data processing device 80 .

[0143] Among them, the processing module 820 can be a processor or a controller, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the embodiments of the present application. The processor can also be a combination that implements a computing function, for example, including a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 810 can be a transceiver, an RF circuit or a communication interface, etc. The storage module 830 can be a memory.

[0144] Among them, all relevant contents of each scenario involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here. The above first writing movement training data processing device or the second writing movement training data processing device can execute the above Figure 3 The steps performed by the server in the hand function training system are shown.

[0145] An embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method recorded in the above method embodiments, and the above computer includes a server.

[0146] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0147] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0148] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which 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 integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0149] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, 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 solution of this embodiment.

[0150] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0151] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

[0152] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing the relevant hardware through a program, and the program may be stored in a computer-readable memory, which may include a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0153] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A writing movement training data processing method, characterized in that: A server applied to a hand function training system, the hand function training system comprising the server, a user device, a manipulator and a smart pen, the server being communicatively connected to the user device, the user device being communicatively connected to the manipulator, the manipulator being communicatively connected to the smart pen, and the method comprising: Acquire a calligraphy practice task uploaded by the user device, wherein the calligraphy practice task carries calligraphy practice content; Sending a pen-holding instruction to the manipulator according to the calligraphy practice task, wherein the pen-holding instruction carries a basic pen-holding posture, and the pen-holding instruction is used to instruct the manipulator to adjust the placement position and movement angle of each joint on the manipulator according to the basic pen-holding posture; Acquire touch sensing information uploaded by the smart pen, where the touch sensing information is used to indicate a current contact point of the user's current pen-holding posture on the smart pen; When it is determined according to the touch sensing information that the user's current pen-holding posture meets the correct pen-holding posture, a training program is generated according to the calligraphy practice content and the correct pen-holding posture, wherein the training program includes a control step for controlling the manipulator to practice the calligraphy practice content while adopting the correct pen-holding posture; Sending a training instruction to the manipulator, wherein the training instruction is used to instruct the manipulator to execute the training plan; Acquire a first movement trajectory uploaded by the smart pen, where the first movement trajectory is a trajectory of movement of the smart pen when the manipulator executes the training program; generating a second movement trajectory according to the joint movement position and movement direction of the manipulator, wherein the second movement trajectory is a movement trajectory of the manipulator when the manipulator executes the training program; Determine whether the first movement trajectory matches the second movement trajectory, and when the first movement trajectory does not match the second movement trajectory, send a grip adjustment instruction to the manipulator, wherein the grip adjustment instruction is used to adjust the strength with which the user holds the pen.

2. The method according to claim 1, characterized in that When it is determined according to the touch sensing information that the current pen-holding posture of the user meets the correct pen-holding posture, generating a training program according to the calligraphy practice content and the correct pen-holding posture includes: Determining the target characters in the calligraphy practice content; Performing stroke splitting on the target character to obtain the stroke content and stroke sequence of the target character; Determine the joint movement position and movement direction of the manipulator for a single stroke according to the stroke content and the stroke sequence; The training program is generated according to the correct pen-holding posture, the joint movement position and the movement direction corresponding to each stroke of the target character.

3. The method according to claim 2, characterized in that The step of determining the joint movement position and movement direction of the manipulator for a single stroke according to the stroke content and the stroke sequence includes: Acquire first image information uploaded by the smart pen; determining a writing range according to the first image information; Determining the writing size of the target character according to the writing range; The joint movement position and movement direction of the manipulator for a single stroke are determined according to the writing size, the stroke content and the stroke sequence.

4. The method according to claim 2, characterized in that Before sending the training instruction to the manipulator, the method further includes: Acquire second image information uploaded by the smart pen; Determine a current pen tip position of the smart pen according to the second image information; Determine whether the current pen tip position is at a target starting position, where the target starting position is the starting position of the first stroke in the brush sequence for writing the target character; If it is at the target starting position, sending a training instruction to the manipulator; If it is not at the target starting position, determine the position distance between the current pen tip position and the target starting position; and generate position adjustment information according to the position distance, wherein the position adjustment information is used to prompt the user to move the pen tip of the smart pen to the target starting position.

5. The method according to claim 4, characterized in that The method of determining whether the current pen tip position is before the target starting position further includes: Determine whether there is existing text at the current pen tip position according to the second image information; When the existing text exists at the current pen tip position, determining a blank area closest to the existing text, and determining the blank area as a target writing area; Determining a position structure of the first stroke in the target character; The target starting position corresponding to the target writing area is determined according to the position structure.

6. The method according to claim 1, characterized in that When it is determined according to the touch sensing information that the current pen-holding posture of the user meets the correct pen-holding posture, before generating a training program according to the calligraphy practice content and the correct pen-holding posture, the method further includes: Acquire a target contact point, where the target contact point is a contact point on the smart pen corresponding to the correct pen-holding posture; Determining whether the current contact point matches the target contact point; If yes, determining that the current pen-holding posture of the user meets the correct pen-holding posture; If not, determining a target distance between the current contact point and the target contact point; Generate pen-holding prompt information according to the target distance, wherein the pen-holding prompt information is used to prompt the user to adjust the pen-holding position to conform to the correct pen-holding posture; A pen holding prompt instruction is sent to the user equipment, where the pen holding prompt instruction is used to instruct the user equipment to output the pen holding prompt information.

7. A writing movement training data processing device, characterized in that: A server applied to a hand function training system, the hand function training system comprising the server, a user device, a manipulator and a smart pen, the server being communicatively connected to the user device, the user device being communicatively connected to the manipulator, the manipulator being communicatively connected to the smart pen, and the writing movement training data processing device comprising: A first acquisition unit is used to acquire a calligraphy practice task uploaded by the user device, wherein the calligraphy practice task carries calligraphy practice content; A first sending unit is used to send a pen-holding instruction to the manipulator according to the calligraphy practice task, wherein the pen-holding instruction carries a basic pen-holding posture, and the pen-holding instruction is used to instruct the manipulator to adjust the placement position and movement angle of each joint on the manipulator according to the basic pen-holding posture; A second acquisition unit, configured to acquire touch sensing information uploaded by the smart pen, wherein the touch sensing information is used to indicate a current contact point of the user's current pen-holding posture on the smart pen; a generating unit, configured to generate a training program according to the calligraphy practice content and the correct pen-holding posture when it is determined according to the touch sensing information that the user's current pen-holding posture conforms to the correct pen-holding posture, wherein the training program includes a control step for controlling the manipulator to practice the calligraphy practice content while adopting the correct pen-holding posture; A second sending unit, used for sending a training instruction to the manipulator, wherein the training instruction is used for instructing the manipulator to execute the training plan; A matching unit is used to obtain a first movement trajectory uploaded by the smart pen after sending a training instruction to the manipulator, the first movement trajectory being the trajectory of the smart pen when the manipulator executes the training program; generate a second movement trajectory according to the joint movement position and movement direction of the manipulator, the second movement trajectory being the trajectory of the manipulator when the manipulator executes the training program; determine whether the first movement trajectory matches the second movement trajectory, and when the first movement trajectory does not match the second movement trajectory, send a grip adjustment instruction to the manipulator, the grip adjustment instruction being used to adjust the strength with which the user holds the pen.

8. An electronic device, characterized in that: The method comprises a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for executing the steps in the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: A computer program for electronic data exchange is stored, wherein the computer program enables a computer to execute the steps in the method according to any one of claims 1 to 6.

Images