Immersive learning system for traditional Chinese medicine knowledge and multi-strategy extraction learning method

Abstract

The invention relates to the technical field of learning systems, and provides a traditional Chinese medicine knowledge immersive learning system and a multi-strategy extraction learning method, which utilize a VR technology to realize multi-sensory learning experience of traditional Chinese medicine knowledge and achieve the purpose of multi-strategy extraction learning, and are richer in scene simulation, further enhanced in learning effect, better in intelligence and better in application prospect. The VR glasses table comprises VR glasses, a table frame mechanism and a hand learning mechanism, the table frame mechanism comprises a bottom frame and a portal frame, the portal frame is fixedly connected to the top end of the bottom frame, an auxiliary storage assembly is installed in the bottom frame, and the hand learning mechanism comprises two learning gloves and two cooperative mechanical arms. Each of the two learning gloves is provided with five finger cots, each of the ten finger cots is provided with a telescopic air pipe, each of the ten finger cots is provided with a fixing joint matched with the telescopic air pipe, each of the two learning gloves is externally provided with an inner annular ball, and each of the two inner annular balls is internally provided with a linear mounting assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of learning systems, and in particular to an immersive learning system for traditional Chinese medicine knowledge and a multi-strategy extraction learning method. Background Art

[0002] As we all know, Chinese medicine refers to traditional medicine created by the Chinese people. It is a discipline that studies human physiology, pathology, diagnosis and prevention of diseases. Chinese medicine has a long history. In order to facilitate the inheritance of Chinese medicine and improve the convenience of learning Chinese medicine, we propose an immersive learning system for Chinese medicine knowledge and a multi-strategy extraction learning method.

[0003] After searching, the Chinese patent publication number CN114817754B and the patent publication number CN111202663B respectively disclose a VR learning system and a visual training learning system based on VR technology. For the former, it is roughly described as, based on various learning materials captured from the Internet, for the learning goals set by the user himself or arranged by the superior, a learning plan is automatically generated, and according to the learning plan, the corresponding learning content and requirements are pushed to the user, and at the same time, the user's learning situation can be tracked and managed, effectively improving the user's learning efficiency. For the latter, it is roughly described as setting a system with VR glasses and VR handles, the system includes an eye tracking module, a training module and a data module, the VR glasses view both eyes separately, after logging into the system, the training module is selected for training, the eye tracking module starts to track the eye movement trajectory, the training module records the training data at the same time, and sends the eye movement trajectory data and training data to the data module in real time, the data module controls the training difficulty of the training module by analyzing the data, and the module cooperates to perform visual training for the user.

[0004] Although the above-mentioned existing technical solutions can use VR technology to assist in the visual and auditory learning process, since Chinese medicine knowledge includes multiple directions such as Chinese medicine, Chinese medicine and acupuncture, and no matter which direction, the simple audio-visual learning effect needs to be further optimized. For example, in acupuncture learning, during the Chinese medicine learning period, many learners will use their own bodies to perform actual acupuncture operations to practice acupoints. Although this can achieve practical learning effects, the risk factor is still relatively high for beginners. Moreover, it is impossible to practice special acupoints by oneself, and the use is relatively limited. Summary of the invention

[0005] In view of the shortcomings of the existing technology, the present invention provides an immersive learning system for traditional Chinese medicine knowledge and a multi-strategy extraction learning method, which utilizes VR technology to realize a multi-sensory learning experience of traditional Chinese medicine knowledge and achieve the purpose of multi-strategy extraction learning. The scene simulation is relatively rich, the learning effect is further enhanced, the intelligence is better, the human-computer interaction is stronger, and it is more practical.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an immersive learning system for traditional Chinese medicine knowledge, comprising VR glasses, a table frame mechanism and a hand learning mechanism, wherein the table frame mechanism comprises a bottom frame and a gantry frame, wherein the gantry frame is fixedly connected to the top of the bottom frame, and an auxiliary storage component is installed in the bottom frame, wherein the hand learning mechanism comprises two learning gloves and two coordinated robotic arms, wherein the two learning gloves are each provided with five finger sleeves, and the ten finger sleeves are each provided with a telescopic air tube, and the ten finger sleeves are each provided with a fixed joint matching the telescopic air tube, and the two learning gloves are each provided with an inner annular ball, and the two learning gloves are each provided with an inner annular ball. A linear mounting assembly is installed in each of the inner annular balls, and the two linear mounting assemblies are matched with two learning gloves respectively. An open ball piece is connected to the outside of the two inner annular balls, and the two open ball pieces are respectively connected to the execution ends of the two collaborative robotic arms. A teaching sensor is installed between the open ball piece and the execution ends of the collaborative robotic arms. The two collaborative robotic arms are installed in the gantry, and an intelligent host and an air supply pump are installed on the top of the gantry. The air supply pump is used for gas supply to the telescopic air pipe. The VR glasses, the air supply pump, the two linear mounting assemblies and the two collaborative robotic arms are electrically connected to the intelligent host, and the VR glasses are provided with an external image acquisition camera.

[0007] Preferably, the two linear mounting assemblies each include a plurality of first servo motors, a plurality of inner mounting cavities are provided in the two inner annular balls, the plurality of first servo motors are respectively mounted in the plurality of inner mounting cavities, winding drive rollers are respectively mounted on the output shafts of the plurality of first servo motors, a plurality of transmission ropes are connected to the two learning gloves, and the plurality of transmission ropes are respectively wound in the plurality of winding drive rollers.

[0008] Preferably, multiple winding drive clamping rollers are each provided with a rope winding groove matching the transmission rope, multiple rope winding grooves are each provided with a multiple stepped side holes on their side walls, multiple stepped side holes are each slidably connected with a stepped pressure frame, multiple stepped pressure frames are each fixedly connected with a return spring, multiple return springs are each fixedly connected to the stepped side holes, multiple inner mounting cavities are each fixedly connected with a pushing ring matching the stepped pressure frame, and the stepped pressure frame is provided with a round bar head matching the transmission rope.

[0009] Preferably, two vertical mounting seats are slidably connected in the gantry, and the two cooperative robotic arms are respectively mounted on the ends of the two vertical mounting seats close to each other, and the two vertical mounting seats are both threadedly connected with vertical screws, and the two vertical screws are rotatably connected in the gantry. Two recessed side grooves are provided at the top of the gantry, and second servo motors are installed in the two recessed side grooves, and the output shafts of the two second servo motors are respectively transmission-connected to the two vertical screws.

[0010] Preferably, the auxiliary storage assembly includes a transverse rotating frame and a plurality of limit pins, the transverse rotating frame is rotatably connected within the bottom frame, the transverse rotating frame is rotatably connected to a vertical rotating frame, the vertical rotating frame is rotatably connected to a table top, the transverse rotating frame and the bottom frame are both provided with two synchronization pin holes, and the synchronization pin holes match the limit pins.

[0011] Preferably, a double-headed hole mounting cavity is opened in the vertical rotating frame, a double-headed pin rack is slidably connected in the double-headed hole mounting cavity, the double-headed pin rack is fixedly connected with a pin spring, the pin spring is fixedly connected in the double-headed hole mounting cavity, the double-headed pin rack is transmission-connected with a counter-moving pin rack, the counter-moving pin rack matches the table top, and the double-headed pin rack matches the horizontal rotating frame.

[0012] Preferably, a transmission plate is rotatably connected in the double-headed hole mounting cavity, a transmission bar hole is opened on the transmission plate, a transmission rod is arranged in each of the two transmission bar holes, and the two transmission rods are respectively fixedly connected to the double-headed pin rack and the shifting pin rack.

[0013] Preferably, the limit pin is provided with a plurality of through holes, a permanent magnet is fixedly connected in each of the plurality of through holes, and an iron ring matching the permanent magnet is provided in each of the plurality of synchronization pin holes.

[0014] Preferably, both left and right ends of the bottom frame are fixedly connected with pin-setting racks, and both pin-setting racks are provided with a plurality of insertion and storage holes matching with the limit pins.

[0015] A multi-strategy extraction learning method for a traditional Chinese medicine knowledge immersive learning system comprises the following steps:

[0016] S1. Before use, first complete the corresponding installation of the TCM knowledge immersive learning system, pre-install the TCM knowledge reserve library and supporting VR software in the intelligent host, and perform corresponding debugging. After the debugging is completed, the TCM knowledge immersive learning system can be used for learning;

[0017] S2. Before learning, the learner wears VR glasses on his head, wears two learning gloves on his hands, and puts his fingers into the corresponding finger sleeves. Then, the smart host is turned on, and the VR software in the smart host is started. The VR software calls the corresponding learning content in the traditional Chinese medicine knowledge reserve library to form corresponding learning;

[0018] S3. During the learning process, the external image acquisition camera is adjusted according to the learner's head to form an image acquisition of the external real scene within the corresponding visual range, and the acquired real scene image is transmitted to the smart host in real time. The VR software in the smart host forms a relative fusion of the learning content and the real scene, so as to improve the visual realism of the virtual image rendered by the VR glasses;

[0019] S4. In the learning state, the linear installation component cooperates with the VR software in the intelligent host to form a collaborative work, and the specific content in the traditional Chinese medicine knowledge reserve library retrieved and executed by the VR software is combined to assist the learner to adjust the hand. At the same time, the air supply pump cooperates with the specific content in the traditional Chinese medicine knowledge reserve library retrieved and executed by the VR software to assist the learner to adjust the finger, so as to assist in the realization of specific gestures and the correction of gestures;

[0020] S5. During the movement of the learner's hand, the collaborative robot arm realizes the auxiliary adjustment of the learner's hand in space. The adjustment process is divided into two environments: fully active adjustment and collaborative adjustment. In the fully active adjustment environment, when the hand and the virtual object simulated by the VR glasses have not yet contacted or interfered with each other, the teaching sensor forms a control access function, and the collaborative robot arm forms active movement according to the program generated by the unmatched VR software. Under the autonomous movement trend of the learner's hand, the collaborative robot arm forms a follow-up movement according to the movement of the hand;

[0021] S6. In the learning state, the hand contacts and interferes with the virtual object simulated by the VR glasses. In this state, the collaborative adjustment environment is entered. While the teaching sensor forms an access function, the collaborative robotic arm forms motion interference of the hand movement under the autonomous motion state of the learner's hand to simulate the effect of contact between the hand and the virtual object.

[0022] Compared with the prior art, the present invention provides an immersive learning system for traditional Chinese medicine knowledge and a multi-strategy extraction learning method, which have the following beneficial effects:

[0023] (1) In the present invention, by matching VR glasses, the collection of visual scene materials and the rendering and display of learning content are formed to facilitate the construction of a basic audio-visual learning environment.

[0024] (2). In the present invention, through the design of the hand learning mechanism, combined with the visual scene supporting the integration of the learner's hand practical simulation scene, a multi-sensory learning experience of traditional Chinese medicine knowledge is realized, and the purpose of multi-strategy learning is achieved. The scene simulation is relatively rich, the learning effect is further enhanced, the intelligence is better, and the human-computer interaction is stronger.

[0025] (3) In the present invention, by configuring the linear mounting assembly, the specific postures that can be formed by the learning gloves are enriched, so as to facilitate the auxiliary realization of the palm postures of the learners during the learning process, which is more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0027] Figure 2 For the present invention Figure 1 A schematic diagram of the local enlarged structure at point A in the middle;

[0028] Figure 3 It is a cross-sectional three-dimensional structural schematic diagram of the bottom frame, gantry and cooperative mechanical arm of the present invention;

[0029] Figure 4 For the present invention Figure 3 A schematic diagram of the local enlarged structure at B in the middle;

[0030] Figure 5 The figure is a schematic diagram of the exploded three-dimensional structure of the learning glove, the inner annular ball and the open ball part of the present invention;

[0031] Figure 6 It is a partially cutaway three-dimensional structural schematic diagram of the cooperation of the learning glove, the inner annular ball and the transmission rope of the present invention;

[0032] Figure 7 For the present invention Figure 6 A schematic diagram of the local enlarged structure at C in the middle;

[0033] Figure 8 It is a bottom-up three-dimensional structural schematic diagram of the cooperation of the double-head pin rack, the pin spring and the shifting pin rack of the present invention;

[0034] Fig. 9 It is a schematic diagram of the three-dimensional structure of the cooperation between the first servo motor and the winding drive roller of the present invention;

[0035] Fig.10 It is a schematic diagram of a sectional exploded three-dimensional structure of the cooperation of the first servo motor, the winding drive roller and the push ring of the present invention;

[0036] Fig.11 It is a schematic diagram of the three-dimensional structure of the finger sleeve, the telescopic air tube and the fixed joint of the present invention;

[0037] Fig.12 It is a schematic diagram of the three-dimensional structure of the table top after it is rotated and raised relative to the bottom frame of the present invention;

[0038] Fig.13 It is a schematic diagram of the three-dimensional structure of the vertical rotating frame of the present invention after it is rotated and erected relative to the bottom frame;

[0039] Fig.14 It is a schematic diagram of the three-dimensional structure of the vertical rotating frame of the present invention after it is rotated and erected relative to the bottom frame from a rear side view;

[0040] Fig.15 It is a schematic diagram of the three-dimensional structure of the present invention as a whole from the rear side;

[0041] Fig.16 It is a schematic diagram of the three-dimensional structure of the VR glasses of the present invention.

[0042] In the figure: 1. VR glasses; 2. bottom frame; 3. gantry; 4. learning gloves; 5. collaborative robot arm; 6. finger cot; 7. telescopic air tube; 8. fixed joint; 9. inner annular ball; 10. open ball piece; 11. teaching sensor; 12. intelligent host; 13. air supply pump; 14. external image acquisition camera; 15. first servo motor; 16. winding drive roller; 17. transmission rope; 18. rope winding groove; 19. step side hole; 20. step press frame; 21. Position spring; 22. Push ring; 23. Round head of bar; 24. Vertical mounting seat; 25. Vertical lead screw; 26. Second servo motor; 27. Horizontal rotation frame; 28. Limit pin; 29. ​​Vertical rotation frame; 30. Table board; 31. Synchronous pin hole; 32. Double-head hole mounting cavity; 33. Double-head pin rack; 34. Pin spring; 35. Opposite-shift pin rack; 36. Transmission plate; 37. Transmission bar hole; 38. Transmission rod; 39. Permanent magnet; 40. Iron ring; 41. Pin rack; 42. Storage hole. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Example

[0045] See also Figure 1-Figure 16A Chinese medicine knowledge immersive learning system includes VR glasses 1, a table frame mechanism and a hand learning mechanism, the table frame mechanism includes a bottom frame 2 and a gantry 3, the gantry 3 is fixedly connected to the top of the bottom frame 2, an auxiliary storage component is installed in the bottom frame 2, the auxiliary storage component includes a horizontal rotation frame 27 and a plurality of limit pins 28, the horizontal rotation frame 27 is rotatably connected in the bottom frame 2, a vertical rotation frame 29 is rotatably connected in the horizontal rotation frame 27, a table board 30 is rotatably connected in the vertical rotation frame 29, and two synchronization pin holes are provided in the horizontal rotation frame 27 and the bottom frame 2 The synchronization pin hole 31 matches the limit pin 28. By adjusting the synchronization pin hole 31 on the horizontal rotation frame 27 and the synchronization pin hole 31 on the bottom frame 2 to overlap and insert the limit pin 28, the posture limitation of the horizontal rotation frame 27 after it is rotated and raised relative to the bottom frame 2 can be achieved. A double-headed hole installation cavity 32 is opened in the vertical rotation frame 29. A double-headed pin frame 33 is slidably connected in the double-headed hole installation cavity 32. The double-headed pin frame 33 is fixedly connected to a pin spring 34. The pin spring 34 is fixedly connected in the double-headed hole installation cavity 32. The double-headed pin frame 33 is transmission-connected to a counter-moving pin frame 35. The counter-moving pin frame 35 The double-headed pin frame 33 matches the table top 30, and the double-headed pin frame 33 matches the horizontal rotation frame 27. The rotation limit between the opposite-direction pin frame 35 and the table top 30 can be achieved through the opposite-direction pin frame 35. The rotation limit between the horizontal rotation frame 27 and the vertical rotation frame 29 can be achieved through the double-headed pin frame 33. A transmission plate 36 is rotatably connected in the double-headed hole mounting cavity 32. A transmission bar hole 37 is opened on the transmission plate 36. A transmission rod 38 is arranged in each of the two transmission bar holes 37. The two transmission rods 38 are respectively fixedly connected to the double-headed pin frame 33 and the opposite-direction pin frame 35, forming a gap between the double-headed pin frame 33 and the opposite-direction pin frame 35. The linkage is simple and convenient to adjust. A plurality of through holes are provided on the limit pin 28, and permanent magnets 39 are fixedly connected in the plurality of through holes. Iron rings 40 matching the permanent magnets 39 are provided in the plurality of synchronization pin holes 31. After the limit pin 28 is inserted relative to the synchronization pin hole 31, the position of the limit pin 28 after being inserted into the synchronization pin hole 31 can be stabilized by the mutual magnetic attraction between the permanent magnet 39 and the iron ring 40. Pin holders 41 are fixedly connected at the left and right ends of the bottom frame 2, and a plurality of insertion storage holes 42 matching the limit pin 28 are provided on the two pin holders 41.

[0046] It should be further explained that the hand learning mechanism includes two learning gloves 4 and two cooperative mechanical arms 5. Five finger sleeves 6 are provided on the two learning gloves 4. Ten finger sleeves 6 are provided with telescopic air tubes 7. Ten finger sleeves 6 are provided with fixed nodes 8 matching the telescopic air tubes 7 for auxiliary fixation of the telescopic air tubes 7. The fixed nodes 8 are located at the bending points on the finger sleeves 6 matching the fingers. Inner annular balls 9 are provided on the outside of the two learning gloves 4. Linear mounting components are installed in the two inner annular balls 9. The two linear mounting components are matched with the two learning gloves 4 respectively. The two linear mounting components include multiple first servo motors 15. Multiple inner mounting cavities are opened in the two inner annular balls 9. Multiple first servo motors 15 are respectively installed in the multiple inner mounting cavities. Winding drive clamping rollers 16 are installed on the output shafts of the multiple first servo motors 15. Multiple transmission ropes 17 are connected to the two learning gloves 4. Multiple transmission ropes 17 The gloves 4 are respectively wound in a plurality of winding drive rollers 16, and the specific postures that can be formed by the learning gloves 4 are enriched through the configuration of linear mounting components, so as to facilitate the auxiliary realization of the palm postures of the learners during the learning process, and are more practical. A rope winding groove 18 matching the transmission rope 17 is opened in the plurality of winding drive rollers 16, and a plurality of step side holes 19 are opened on the side walls of the plurality of rope winding grooves 18. A step pressure frame 20 is slidably connected in the plurality of step side holes 19, and the plurality of step pressure frames 20 are fixedly connected with return springs 21, and the plurality of return springs 21 are fixedly connected in the step side holes 19. A pushing ring 22 matching the step pressure frame 20 is fixedly connected in the plurality of inner mounting cavities. A round bar head 23 matching the transmission rope 17 is provided on the step pressure frame 20, and the transmission rope 17 wound into the rope winding groove 18 is pressed to form a compression. In the process of the winding drive roller 16 driving the transmission rope 17, the slippage of the transmission rope 17 relative to the rope winding groove 18 is reduced.

[0047] It should be further explained that the two inner annular balls 9 are connected to open ball pieces 10 on the outside, and the two open ball pieces 10 are respectively connected to the execution ends of the two cooperative robot arms 5. A teaching sensor 11 is installed between the open ball piece 10 and the execution ends of the cooperative robot arms 5. The two cooperative robot arms 5 are installed in the gantry 3. Through the design of the hand learning mechanism, the visual scene is combined with the learning personnel's hand practical simulation scene to achieve a multi-sensory learning experience of traditional Chinese medicine knowledge and achieve the purpose of multi-strategy learning. The scene simulation is richer, the learning effect is further enhanced, the intelligence is better, and the human-computer interaction is stronger. There are two vertical mounting seats 24 slidingly connected in the gantry 3, and the two cooperative robot arms 5 are respectively installed at the ends of the two vertical mounting seats 24 close to each other. The two vertical mounting seats 24 are both threaded A vertical screw 25 is connected, and the two vertical screws 25 are rotatably connected in the gantry 3. Two recessed side grooves are provided at the top of the gantry 3, and second servo motors 26 are installed in the two recessed side grooves. The output shafts of the two second servo motors 26 are respectively connected to the two vertical screws 25 for transmission, so that the cooperative robot arm 5 can form height adjustment in the gantry 3. An intelligent host 12 and an air supply pump 13 are installed at the top of the gantry 3. The air supply pump 13 is used for gas supply of the telescopic air pipe 7. The VR glasses 1, the air supply pump 13, the two linear mounting components and the two cooperative robot arms 5 are all electrically connected to the intelligent host 12. The VR glasses 1 are provided with an external image acquisition camera 14. Through the matching of the VR glasses 1, the collection of visual scene materials and the rendering and display of learning content are formed to facilitate the construction of a basic audio-visual learning environment.

[0048] The teaching sensor 11, cooperative robot arm 5, intelligent host 12, air supply pump 13, first servo motor 15, second servo motor 26 and electromagnetic control valve in this embodiment are all conventional equipment purchased on the market and well known to technicians in this field. In the present invention, we only use them and do not improve their structure and function. For technicians in this field, their setting method, installation method and electrical connection method only need to be debugged according to the requirements of their instruction manual, and they will not be repeated here.

[0049] To sum up, the working principle of the TCM knowledge immersive learning system is as follows: before use, the TCM knowledge immersive learning system should be installed accordingly, and the teaching sensor 11, the collaborative robot arm 5, the air supply pump 13, the first servo motor 15, the second servo motor 26 and the electromagnetic control valve should be connected to the intelligent host 12 to realize the centralization of control rights, and the TCM knowledge reserve library and the supporting VR software should be pre-loaded into the intelligent host 12, and the corresponding debugging work should be carried out to form a knowledge extraction calling path of the VR software relative to the TCM knowledge reserve library, so as to form a multi-strategy extraction learning method with VR glasses and learning gloves. After the debugging is completed, the TCM knowledge immersive learning system can be used for learning. Before learning, the learner's head Wearing VR glasses 1, the learner wears two learning gloves 4 on both hands respectively, and puts the fingers into the corresponding finger sleeves 6, then turns on the smart host 12, starts the VR software in the smart host 12, and the VR software calls the corresponding learning content in the traditional Chinese medicine knowledge reserve library to form corresponding learning. During the learning process, the external image acquisition camera 14 forms an image acquisition of the external real scene within the corresponding visual range according to the head movement of the learner, and transmits the acquired image of the real scene to the smart host 12 in real time. The VR software in the smart host 12 forms a relative fusion of the learning content and the real scene to improve the visual reality of the virtual image rendered by the VR glasses 1. In the learning state, the linear installation component cooperates with the smart host 12 The VR software in the learning glove 4 forms a coordinated work, that is, the multiple first servo motors 15 are matched to operate to realize the rotation drive of the winding drive roller 16, and the transmission rope 17 wound in the rope winding groove 18 is adjusted relative to the inner annular ball 9, and then the position of the learning glove 4 is adjusted. Since the two rope ends of the single transmission rope 17 are respectively connected to the two surfaces of the learning glove 4 (i.e., the back of the hand and the palm surface), the driving of the two surfaces is relative. During the rotation of the winding drive roller 16, due to the effect of the gradual change end surface on the push ring 22, when the transmission rope 17 initially enters the rope winding groove 18, the reset spring 21 acts on the step pressing frame 20, so that the step pressing frame 20 is received in the step side hole 19. After the transmission rope 17 enters the rope winding groove 18 for a period of time, due to the effect of the gradual change end surface on the push ring 22, the step pressing frame 20 is received in the step side hole 19. The pushing action of the gradual end surface causes the step pressure frame 20 to overcome the elastic force of the return spring 21 and extend out of the step side hole 19, and the round head 23 on the step pressure frame 20 extending out of the step side hole 19 contacts and presses the transmission rope 17, and accompanied by the synchronous movement of the transmission rope 17 and the winding drive clamping roller 16, when the transmission rope 17 is close to the position where it is about to turn away from the rope winding groove 18, the round head 23 on the step pressure frame 20 is away from the transmission rope 17 to facilitate the transmission rope 17 to turn away from the rope winding groove 18, combined with the specific content in the traditional Chinese medicine knowledge reserve library retrieved and executed by the VR software to assist the learner's hand to form an adjustment, and at the same time, the air supply pump 13 cooperates with the specific content in the traditional Chinese medicine knowledge reserve library retrieved and executed by the VR software to assist the learner's fingers to form an adjustment,In order to assist in the realization of specific gestures and the correction of gestures, the telescopic air tube 7 is equipped with an electromagnetic control valve to facilitate the maintenance of the negative pressure state and the rich pressure state of the telescopic air tube 7. The rich pressure means that there is more compressed air in the telescopic air tube 7 and the telescopic air tube 7 is in an extended state. The negative pressure state means that there is less compressed air in the telescopic air tube 7 and the telescopic air tube 7 is in a shortened state. Fig.11 In the installation state shown, when the telescopic air tube 7 is shortened, the corresponding finger sleeve 6 has a driving function of assisting straightening, and when the telescopic air tube 7 is extended, the corresponding finger sleeve 6 has a driving function of assisting bending. There are two air supply pumps 13, one air supply pump 13 is used to create a negative pressure state, and the other air supply pump 13 is used to create a rich pressure state.

[0050] Furthermore, during the movement of the learner's hand, the collaborative robot arm 5 realizes the auxiliary adjustment of the learner's hand in space. The adjustment process is divided into two environments: fully active adjustment and collaborative adjustment. In the fully active adjustment environment, the hand and the virtual object simulated by the VR glasses 1 have not yet contacted or interfered with each other. In this state, the teaching sensor 11 forms a control full access effect, and the collaborative robot arm 5 forms active movement according to the program generated by the unmatched VR software. Under the autonomous movement trend of the learner's hand, the collaborative robot arm 5 forms a follow-up movement according to the movement of the hand. In the learning state, when the hand and the virtual object simulated by the VR glasses 1 form contact and interference, in this state, it enters the collaborative adjustment environment. While the teaching sensor 11 forms an access effect, the collaborative robot arm 5 forms motion interference of the hand movement. In the autonomous movement state of the learner's hand, it simulates the hand and the virtual object. The effect of contact with objects, the movement process of the collaborative robot arm 5 includes the movement of the collaborative robot arm 5 itself and the adjustment movement of the relative height relative to the gantry 3. When the collaborative robot arm 5 is adjusted in height relative to the gantry 3, the second servo motor 26 works to realize the rotation drive of the vertical screw 25, and the rotation of the vertical screw 25 cooperates with the threaded action of the vertical mounting seat 24 to realize the height adjustment of the vertical mounting seat 24 in the gantry 3, and then achieves the height adjustment of the collaborative robot arm 5. Taking the learning effect into comprehensive consideration, in order to improve the authenticity of learning, it is possible to integrate virtual scenes based on existing teaching material models to improve the authenticity of simulation learning. For example, in the process of learning acupuncture points, a human body model can be added, and the image of the real scene of the outside world can be collected for the human body model through the external image acquisition camera 14, and the human body model can be integrated into the learning content. In order to facilitate the placement of the teaching material model, the auxiliary placement component can be adjusted to the attached Fig.12 The status and attached Fig.13 The status shown in the attached Fig.12 In the state shown, it is convenient to lay the teaching model horizontally. Fig.13 In the state shown, it is convenient to place the teaching model vertically. Figure 1In the state shown, the influence of the auxiliary storage components on the standing of the learners can be reduced. Figure 1 Adjust to the attached Fig.12 It is only necessary to rotate the lateral rotating frame 27 relative to the bottom frame 2 so that the synchronization pin hole 31 on the lateral rotating frame 27 and the synchronization pin hole 31 on the bottom frame 2 are aligned and adjusted, and then insert the limit pin 28. Fig.12 Adjust to the Fig.13 The state shown in the figure, it is necessary to first push the exposed part of the double-headed pin holder 33 forward to overcome the elastic force of the pin spring 34 to elastically compress the pin spring 34, so as to achieve the synchronous movement of the double-headed pin holder 33 and the opposite pin holder 35, and then achieve the failure of the insertion effect of the double-headed pin holder 33 into the horizontal rotation frame 27 and the failure of the insertion effect of the opposite pin holder 35 relative to the table top 30, and maintain the failure state, so as to form a relative ninety-degree rotation adjustment of the vertical rotation frame 29 relative to the horizontal rotation frame 27, and a relative ninety-degree rotation adjustment of the table top 30 relative to the vertical rotation frame 29. After the adjustment is completed, release the push on the exposed part of the double-headed pin holder 33, and the two protruding points at the rear of the double-headed pin holder 33 will be respectively stuck at the two ends of the horizontal rotation frame 27, and the opposite pin holder 35 will be inserted again relative to the table top 30. This state is shown in the attached figure. Fig.14 As shown, it is convenient to hang the teaching model between the vertical rotating frames 29 arranged vertically.

[0051] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A traditional Chinese medicine knowledge immersive learning system, comprising VR glasses (1), characterized in that: The device also includes a table frame mechanism and a hand learning mechanism. The table frame mechanism includes a bottom frame (2) and a gantry frame (3). The gantry frame (3) is fixedly connected to the top of the bottom frame (2). An auxiliary storage component is installed in the bottom frame (2). The hand learning mechanism includes two learning gloves (4) and two cooperative mechanical arms (5). Five finger sleeves (6) are provided on the two learning gloves (4). Ten finger sleeves (6) are provided with telescopic air tubes (7). Ten finger sleeves (6) are provided with fixed joints (8) matching the telescopic air tubes (7). The two learning gloves (4) are provided with inner annular balls (9). Linear mounting components are installed in the two inner annular balls (9). The two linear mounting components are respectively connected to the two The learning gloves (4) are matched, and the two inner annular balls (9) are both connected to an open ball piece (10) on the outside. The two open ball pieces (10) are respectively connected to the execution ends of the two cooperative mechanical arms (5). A teaching sensor (11) is installed between the open ball piece (10) and the execution ends of the cooperative mechanical arms (5). The two cooperative mechanical arms (5) are both installed in the gantry (3). The top of the gantry (3) is installed with an intelligent host (12) and an air supply pump (13). The air supply pump (13) is used for gas supply of the telescopic air pipe (7). The VR glasses (1), the air supply pump (13), the two linear installation components and the two cooperative mechanical arms (5) are all electrically connected to the intelligent host (12). The VR glasses (1) are provided with an external image acquisition camera (14).

2. The immersive learning system for traditional Chinese medicine knowledge according to claim 1 is characterized in that: The two linear mounting assemblies each comprise a plurality of first servo motors (15), a plurality of inner mounting cavities are provided in the two inner annular balls (9), the plurality of first servo motors (15) are respectively mounted in the plurality of inner mounting cavities, winding drive rollers (16) are respectively mounted on the output shafts of the plurality of first servo motors (15), a plurality of transmission ropes (17) are connected to the two learning gloves (4), and the plurality of transmission ropes (17) are respectively wound in the plurality of winding drive rollers (16).

3. The immersive learning system for traditional Chinese medicine knowledge according to claim 2 is characterized in that: A plurality of the winding drive clamping rollers (16) are provided with rope winding grooves (18) matching the transmission rope (17); a plurality of the rope winding grooves (18) are provided with a plurality of stepped side holes (19) on their side walls; a plurality of the stepped side holes (19) are slidably connected with a stepped pressure frame (20); a plurality of the stepped pressure frames (20) are fixedly connected with a return spring (21); a plurality of the return springs (21) are fixedly connected with the stepped side holes (19); a plurality of the inner mounting cavities are fixedly connected with a pushing ring (22) matching the step pressure frame (20); and a round bar head (23) matching the transmission rope (17) is provided on the step pressure frame (20).

4. The immersive learning system for traditional Chinese medicine knowledge according to claim 3 is characterized in that: Two vertical mounting seats (24) are slidably connected in the gantry (3), and the two cooperative mechanical arms (5) are respectively mounted on the ends of the two vertical mounting seats (24) close to each other. The two vertical mounting seats (24) are both threadedly connected with vertical lead screws (25), and the two vertical lead screws (25) are both rotatably connected in the gantry (3). The top of the gantry (3) is provided with two concave side grooves, and the two concave side grooves are both installed with second servo motors (26), and the output shafts of the two second servo motors (26) are respectively transmission-connected with the two vertical lead screws (25).

5. The immersive learning system for traditional Chinese medicine knowledge according to claim 4 is characterized in that: The auxiliary storage component comprises a transverse rotating frame (27) and a plurality of limit pins (28); the transverse rotating frame (27) is rotatably connected in the bottom frame (2); a vertical rotating frame (29) is rotatably connected in the transverse rotating frame (27); a table top (30) is rotatably connected in the vertical rotating frame (29); the transverse rotating frame (27) and the bottom frame (2) are both provided with two synchronous pin holes (31); the synchronous pin holes (31) match the limit pins (28).

6. The immersive learning system for traditional Chinese medicine knowledge according to claim 5 is characterized in that: A double-headed hole installation cavity (32) is provided in the vertical rotation frame (29), a double-headed pin frame (33) is slidably connected in the double-headed hole installation cavity (32), the double-headed pin frame (33) is fixedly connected with a pin spring (34), the pin spring (34) is fixedly connected in the double-headed hole installation cavity (32), the double-headed pin frame (33) is transmission-connected with a counter-moving pin frame (35), the counter-moving pin frame (35) matches the table top (30), and the double-headed pin frame (33) matches the horizontal rotation frame (27).

7. The immersive learning system for traditional Chinese medicine knowledge according to claim 6 is characterized in that: A transmission plate (36) is rotatably connected in the double-head hole installation cavity (32), a transmission bar hole (37) is provided on the transmission plate (36), a transmission rod (38) is provided in each of the two transmission bar holes (37), and the two transmission rods (38) are respectively fixedly connected to the double-head pin frame (33) and the shifting pin frame (35).

8. The immersive learning system for traditional Chinese medicine knowledge according to claim 7 is characterized in that: The limit pin (28) is provided with a plurality of through holes, each of which is fixedly connected with a permanent magnet (39), and each of the plurality of synchronous pin holes (31) is provided with an iron ring (40) matching with the permanent magnet (39).

9. The immersive learning system for traditional Chinese medicine knowledge according to claim 8, characterized in that: The left and right ends of the bottom frame (2) are both fixedly connected with pin holders (41), and the two pin holders (41) are both provided with a plurality of insertion and storage holes (42) matching the limit pins (28).

10. A multi-strategy extraction learning method for a traditional Chinese medicine knowledge immersive learning system, characterized in that: A TCM knowledge immersive learning system according to any one of claims 1 to 9 is used, comprising the following steps: S1. Before use, the TCM knowledge immersive learning system is first installed accordingly, and a TCM knowledge reserve library and supporting VR software are pre-installed in the intelligent host (12), and corresponding debugging is performed. After the debugging is completed, the TCM knowledge immersive learning system can be used for learning; S2. Before learning, the learner wears VR glasses (1) on his head, wears two learning gloves (4) on his hands, and inserts his fingers into corresponding finger sleeves (6). Then, the smart host (12) is turned on, and the VR software in the smart host (12) is started. The VR software calls the corresponding learning content in the traditional Chinese medicine knowledge reserve library to form corresponding learning; S3. During the learning process, the external image acquisition camera (14) is adjusted according to the learner's head to form an image acquisition of the external real scene within the corresponding visual range, and the acquired image of the real scene is transmitted to the intelligent host (12) in real time, and the learning content and the real scene are relatively integrated through the VR software in the intelligent host (12), so as to improve the visual realism of the virtual image rendered by the VR glasses (1); S4, in the learning state, the linear installation component cooperates with the VR software in the intelligent host (12) to form a collaborative work, and the specific content in the traditional Chinese medicine knowledge reserve library retrieved and executed by the VR software is combined to assist the learner to make adjustments to the hands, and at the same time, the air supply pump (13) cooperates with the specific content in the traditional Chinese medicine knowledge reserve library retrieved and executed by the VR software to assist the learner to make adjustments to the fingers, so as to assist in the realization of specific gestures and the correction of gestures; S5. During the movement of the learner's hand, the collaborative robot arm (5) realizes the auxiliary adjustment of the learner's hand in space. The adjustment process is divided into two environments: fully active adjustment and collaborative adjustment. In the fully active adjustment environment, the hand and the virtual object simulated by the VR glasses (1) have not yet contacted or interfered with each other. In this state, the teaching sensor (11) forms a control access function, and the collaborative robot arm (5) does not form an active movement according to the program generated by the matching VR software. Under the autonomous movement trend of the learner's hand, the collaborative robot arm (5) forms a follow-up movement according to the movement of the hand; S6. In the learning state, the hand and the virtual object simulated by the VR glasses (1) come into contact and form an interference effect. In this state, a collaborative adjustment environment is entered. While the teaching sensor (11) forms an access effect, the collaborative robot arm (5) forms motion interference of the hand movement under the autonomous motion state of the learner's hand to simulate the effect of the hand contacting the virtual object.

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