An Immersive Learning System for Traditional Chinese Medicine Knowledge and a Multi-Strategy Extraction Learning Method

Abstract

The present invention relates to the technical field of learning systems, and proposes a Chinese medicine knowledge immersive learning system and a multi-strategy extraction learning method. By using VR technology, it realizes a multi-sensory learning experience of Chinese medicine knowledge, achieves the purpose of multi-strategy extraction learning, has relatively rich scene simulation, further enhances the learning effect, has good intelligence, stronger human-computer interaction, and is more practical. It includes a VR glasses, a table frame mechanism and a hand learning mechanism. The table frame mechanism includes a bottom frame and a gantry. The gantry is fixedly connected to the top of the bottom frame. An auxiliary storage component is installed in the bottom frame. The hand learning mechanism includes two learning gloves and two collaborative robotic arms. Five finger sleeves are provided on each of the two learning gloves. Telescopic air pipes are provided on all ten finger sleeves. Fixed joints matching the telescopic air pipes are provided on all ten finger sleeves. Inner annular balls are provided outside the two learning gloves. Linear installation components are installed in both of the two inner annular balls.

Description

Technical Field

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

[0002] As is well known, traditional Chinese medicine is a discipline that studies the physiology and pathology of the human body, as well as the diagnosis and prevention of diseases. Traditional Chinese medicine has a long history. To facilitate the inheritance of traditional Chinese medicine and improve the convenience of traditional Chinese medicine learning, we propose an immersive learning system for traditional Chinese medicine knowledge and a multi-strategy extraction learning method.

[0003] After retrieval, the patent with the Chinese patent publication number CN114817754B and the patent with the publication number CN111202663B respectively disclose a VR learning system and a visual training learning system based on VR technology. For the former, it is generally described as follows: Based on various learning materials grabbed 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. At the same time, the learning situation of the user can be tracked and managed, effectively improving the learning efficiency of the user. For the latter, it is generally described as follows: It is configured with a VR glasses and a VR handle system. The system includes an eye tracking module, a training module, and a data module. The VR glasses split the view for both eyes. After logging in to the system, select the training module for training. The eye tracking module starts to track the eye movement trajectory. The training module simultaneously records the training data and sends the eye movement trajectory data and the training data to the data module in real time. The data module controls the training difficulty of the training module through the analysis of the data, and the modules cooperate to conduct visual training on the user.

[0004] Although the above-mentioned prior art solutions can utilize VR technology to assist in achieving visual and audible learning during the learning process, since traditional Chinese medicine knowledge includes multiple directions such as traditional Chinese medicine, traditional Chinese medicine practitioners, and acupuncture, and the simple audio-visual learning effect in any direction needs to be further optimized. For example, in acupuncture learning, many learners will perform actual acupuncture operations on their own bodies to practice acupoints during traditional Chinese medicine learning. Although this can achieve a practical learning effect, the risk factor is still relatively high for beginners. Moreover, special acupoints cannot be practiced by oneself, and the use limitations are relatively large. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides an immersive learning system for traditional Chinese medicine knowledge and a multi-strategy extraction learning method. By using VR technology, it realizes a multi-sensory learning experience of traditional Chinese medicine knowledge, achieves the purpose of multi-strategy extraction learning, has rich scene simulations, further enhances the learning effect, has good intelligence, stronger human-computer interaction, and is more practical.

[0006] To achieve the above object, the present invention provides the following technical solution: A Chinese medicine knowledge immersive learning system includes a VR glasses, and also includes a table frame mechanism and a hand learning mechanism. The table frame mechanism includes a bottom frame and a gantry. The gantry is fixedly connected to the top end of the bottom frame. An auxiliary storage component is installed in the bottom frame. The hand learning mechanism includes two learning gloves and two collaborative robotic arms. Five finger sleeves are provided on each of the two learning gloves. Telescopic air pipes are provided on all ten finger sleeves. Fixing joints matching the telescopic air pipes are provided on all ten finger sleeves. Inner annular balls are provided outside both learning gloves. Linear installation components are installed in both inner annular balls. The two linear installation components respectively match the two learning gloves. Open spherical parts are connected outside both inner annular balls. The two open spherical parts are respectively connected to the execution ends of the two collaborative robotic arms. A teaching sensor is installed between the open spherical part and the execution end of the collaborative robotic arm. Both collaborative robotic arms are installed in the gantry. A smart host and an air supply pump are installed at the top end of the gantry. The air supply pump is used for supplying gas to the telescopic air pipes. The VR glasses, the air supply pump, the two linear installation components and the two collaborative robotic arms are all electrically connected to the smart host. An external image acquisition camera is provided on the VR glasses.

[0007] Preferably, both of the two linear installation components include a plurality of first servo motors. A plurality of inner installation cavities are opened in both inner annular balls. The plurality of first servo motors are respectively installed in the plurality of inner installation cavities. Winding drive rollers are installed on the output shafts of the plurality of first servo motors. A plurality of transmission ropes are connected to both learning gloves. The plurality of transmission ropes are respectively wound in the plurality of winding drive rollers.

[0008] Preferably, rope winding grooves matching the transmission ropes are opened in the plurality of winding drive rollers. A plurality of stepped side holes are opened on the side walls of the plurality of rope winding grooves. Stepped pressing frames are slidably connected in the plurality of stepped side holes. A plurality of reset springs are fixedly connected to the plurality of stepped pressing frames. The plurality of reset springs are fixedly connected in the stepped side holes. Pushing rings matching the stepped pressing frames are fixedly connected in the plurality of inner installation cavities. Round bar heads matching the transmission ropes are provided on the stepped pressing frames.

[0009] Preferably, two vertical installation seats are slidably connected in the gantry. The two collaborative robotic arms are respectively installed at the mutually close ends of the two vertical installation seats. Vertical lead screws are threadedly connected in both vertical installation seats. The two vertical lead screws are respectively rotatably connected in the gantry. Two concave edge grooves are opened at the top end of the gantry. Second servo motors are installed in the two concave edge grooves. The output shafts of the two second servo motors are respectively drivingly connected to the two vertical lead screws.

[0010] Preferably, the auxiliary storage component includes a horizontally rotating frame and a plurality of limit pins. The horizontally rotating frame is rotatably connected within the bottom frame. A vertically rotating frame is rotatably connected within the horizontally rotating frame, and a tabletop is rotatably connected within the vertically rotating frame. Both the horizontally rotating frame and the bottom frame are provided with two synchronous pin holes, which are matched with the limit pins.

[0011] Preferably, a double-headed hole installation cavity is provided within the vertically rotating frame. A double-headed pin holder is slidably connected within the double-headed hole installation cavity. The double-headed pin holder is fixedly connected with a pin spring, and the pin spring is fixedly connected within the double-headed hole installation cavity. The double-headed pin holder is drivingly connected with a pair-shifting pin holder, which is matched with the tabletop, and the double-headed pin holder is matched with the horizontally rotating frame.

[0012] Preferably, a transmission plate is rotatably connected within the double-headed hole installation cavity. Transmission strip holes are provided on the transmission plate, and transmission rods are respectively arranged within the two transmission strip holes. The two transmission rods are fixedly connected with the double-headed pin holder and the pair-shifting pin holder respectively.

[0013] Preferably, a plurality of through holes are provided on the limit pins, and permanent magnets are fixedly connected within the plurality of through holes. Iron rings matched with the permanent magnets are arranged within the plurality of synchronous pin holes.

[0014] Preferably, placement pin holders are fixedly connected to both the left and right ends of the bottom frame, and a plurality of insertion storage holes matched with the limit pins are provided on the two placement pin holders.

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

[0016] S1. Before use, first complete the corresponding installation of the traditional Chinese medicine knowledge immersive learning system, pre-load a traditional Chinese medicine knowledge repository and supporting VR software into the intelligent host, and perform corresponding debugging work. After the debugging is completed, learning can be carried out using the traditional Chinese medicine knowledge immersive learning system.

[0017] S2. Before learning, the learner wears a VR headset on the head, wears two learning gloves on both hands respectively, and inserts the fingers into the corresponding finger sleeves. Then, turn on the intelligent host and start the VR software in the intelligent host. The VR software calls the corresponding learning content in the traditional Chinese medicine knowledge repository to form corresponding learning.

[0018] S3. During the learning process, the external image acquisition camera adjusts according to the learner's head to form image acquisition of the real external scene within the corresponding visual range, and transmits the images of the acquired real scene into the intelligent host in real time. Through the VR software in the intelligent host, the learning content and the real scene are relatively integrated to improve the visual realism of the virtual images rendered by the VR headset.

[0019] S4. In the learning state, the linear installation component cooperates with the VR software in the intelligent host to form collaborative work. Combining the specific content retrieved and executed by the VR software in the traditional Chinese medicine knowledge repository, it assists in adjusting the learner's hand, and at the same time, the air supply pump combines the specific content retrieved and executed by the VR software in the traditional Chinese medicine knowledge repository to assist in adjusting the learner's fingers, 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, it cooperates with the robotic arm to achieve the auxiliary adjustment of the learner's hand in space. This adjustment process is divided into two environments: full active adjustment and collaborative adjustment. In the full active adjustment environment, when the hand has not yet contacted and interfered with the virtual object simulated by the VR glasses, in this state, the teaching sensor forms a control access function, and the robotic arm does not match the program generated by the VR software to form an active movement. Under the autonomous movement trend of the learner's hand, the robotic arm forms a follow-up movement according to the movement of the hand.

[0021] S6. In the learning state, when the hand contacts and interferes with the virtual object simulated by the VR glasses, in this state, it enters the collaborative adjustment environment. While the teaching sensor forms an access function, under the autonomous movement state of the learner's hand, the robotic arm forms a movement interference with the hand movement to imitate the effect of the hand contacting the virtual object.

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

[0023] (1). In the present invention, through the supporting of the VR glasses, the acquisition 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, the practical simulation scene of the learner's hand is integrated to realize the multi-sensory learning experience of traditional Chinese medicine knowledge, achieve the purpose of multi-strategy learning, 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, through the provision of the linear installation component, the specific postures that the learning glove can form are enriched to facilitate the auxiliary realization of the palm posture of the learner during the learning process, which is more practical. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0027] Figure 2For the present invention Figure 1 Schematic diagram of the partially enlarged structure at position A in the present invention;

[0028] Figure 3 Schematic diagram of the sectional three-dimensional structure of the bottom frame, gantry, collaborative robotic arm, etc. in cooperation in the present invention;

[0029] Figure 4 For the present invention Figure 3 Schematic diagram of the partially enlarged structure at position B in the present invention;

[0030] Figure 5 Schematic diagram of the exploded three-dimensional structure of the learning glove, inner annular ball, open ball part, etc. in cooperation in the present invention;

[0031] Figure 6 Schematic diagram of the partially sectional three-dimensional structure of the learning glove, inner annular ball, transmission rope, etc. in cooperation in the present invention;

[0032] Figure 7 For the present invention Figure 6 Schematic diagram of the partially enlarged structure at position C in the present invention;

[0033] Figure 8 Schematic diagram of the bottom view three-dimensional structure of the double-headed pin holder, pin spring, opposing moving pin holder, etc. in cooperation in the present invention;

[0034] Figure 9 Schematic diagram of the three-dimensional structure of the first servo motor and the winding drive pinch roller in cooperation in the present invention;

[0035] Figure 10 Schematic diagram of the sectional and exploded three-dimensional structure of the first servo motor, winding drive pinch roller, push ring, etc. in cooperation in the present invention;

[0036] Figure 11 Schematic diagram of the three-dimensional structure of the finger sleeve, telescopic air pipe and fixed section in cooperation in the present invention;

[0037] Figure 12 Schematic diagram of the three-dimensional structure of the tabletop after rotating and rising relative to the bottom frame in the present invention;

[0038] Figure 13 Schematic diagram of the three-dimensional structure of the vertical rotating frame after rotating and erecting relative to the bottom frame in the present invention;

[0039] Figure 14 Schematic diagram of the rear three-dimensional structure of the vertical rotating frame after rotating and erecting relative to the bottom frame in the present invention;

[0040] Figure 15 Schematic diagram of the rear three-dimensional structure of the whole in the present invention;

[0041] Figure 16 Schematic diagram of the three-dimensional structure of the VR glasses in the present invention.

[0042] In the figure: 1. VR glasses; 2. Bottom frame; 3. Gantry; 4. Learning gloves; 5. Collaborative robotic arm; 6. Finger sleeve; 7. Telescopic air pipe; 8. Fixed joint; 9. Inner ring 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 pinch roller; 17. Transmission rope; 18. Rope winding groove; 19. Step side hole; 20. Step pressure frame; 21. Return spring; 22. Push ring; 23. Strip round head; 24. Vertical mounting seat; 25. Vertical lead screw; 26. Second servo motor; 27. Transverse rotation frame; 28. Limit pin; 29. Vertical rotation frame; 30. Table board; 31. Synchronous pin hole; 32. Double-headed hole mounting cavity; 33. Double-headed pin frame; 34. Pin spring; 35. Opposing movement pin frame; 36. Transmission plate; 37. Transmission strip hole; 38. Transmission rod; 39. Permanent magnet; 40. Iron ring; 41. Pin placement frame; 42. Insertion storage hole. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Embodiment

[0044] Please refer to Figures 1 - 16, a Chinese medicine knowledge immersive learning system, including a VR glasses 1, and also including 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 end 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. Both the horizontal rotation frame 27 and the bottom frame 2 are provided with two synchronous pin holes 31. The synchronous pin holes 31 are matched with the limit pins 28. By aligning the synchronous pin holes 31 on the horizontal rotation frame 27 and the synchronous pin holes 31 on the bottom frame 2 and inserting the limit pins 28, the attitude limitation of the horizontal rotation frame 27 relative to the bottom frame 2 after rotation and lifting can be achieved. 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 drivingly connected with a pair-moving pin frame 35. The pair-moving pin frame 35 is matched with the table board 30. The double-headed pin frame 33 is matched with the horizontal rotation frame 27. The rotation limitation between the pair-moving pin frame 35 and the table board 30 can be achieved through the pair-moving pin frame 35. The rotation limitation 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 installation cavity 32. Transmission strip holes 37 are provided on the transmission plate 36. Transmission rods 38 are arranged in both of the two transmission strip holes 37. The two transmission rods 38 are respectively fixedly connected with the double-headed pin frame 33 and the pair-moving pin frame 35, forming the linkage between the double-headed pin frame 33 and the pair-moving pin frame 35. The adjustment operation is relatively simple and convenient. A plurality of through holes are provided on the limit pin 28. Permanent magnets 39 are fixedly connected in the plurality of through holes. Iron rings 40 matched with the permanent magnets 39 are arranged in the plurality of synchronous pin holes 31. After the limit pin 28 is inserted relative to the synchronous pin hole 31, the position stability of the limit pin 28 inserted into the synchronous pin hole 31 can be achieved through the mutual magnetic attraction between the permanent magnet 39 and the iron ring 40. Both the left and right ends of the bottom frame 2 are fixedly connected with pin placement frames 41. A plurality of insertion storage holes 42 matched with the limit pins 28 are arranged on both of the two pin placement frames 41.

[0045] It should be further noted that the hand learning mechanism includes two learning gloves 4 and two collaborative robotic arms 5. Five finger sleeves 6 are provided on each of the two learning gloves 4. Telescopic air pipes 7 are provided on all ten finger sleeves 6. Fixing joints 8 matching the telescopic air pipes 7 are provided on all ten finger sleeves 6 for auxiliary fixing of the telescopic air pipes 7. The fixing joints 8 are located at the bending points on the finger sleeves 6 that match the fingers. Inner annular balls 9 are provided outside each of the two learning gloves 4. Linear installation components are installed inside each of the two inner annular balls 9. The two linear installation components respectively match the two learning gloves 4. Each of the two linear installation components includes a plurality of first servo motors 15. A plurality of inner installation cavities are opened inside each of the two inner annular balls 9. The plurality of first servo motors 15 are respectively installed in the plurality of inner installation cavities. Winding drive pinch rollers 16 are installed on the output shafts of the plurality of first servo motors 15. A plurality of transmission ropes 17 are connected to each of the two learning gloves 4. The plurality of transmission ropes 17 are respectively wound inside the plurality of winding drive pinch rollers 16. By equipping the linear installation components, the specific postures that the learning gloves 4 can form are enriched to facilitate the auxiliary realization of the palm postures of the learning personnel during the learning process, which is more practical. Rope winding grooves 18 matching the transmission ropes 17 are opened inside each of the plurality of winding drive pinch rollers 16. A plurality of stepped side holes 19 are opened on the side walls of the plurality of rope winding grooves 18. Stepped pressure frames 20 are slidably connected inside the plurality of stepped side holes 19. A plurality of reset springs 21 are fixedly connected to each of the plurality of stepped pressure frames 20. The plurality of reset springs 21 are fixedly connected inside the stepped side holes 19. Pushing rings 22 matching the stepped pressure frames 20 are fixedly connected inside each of the plurality of inner installation cavities. Round bar heads 23 matching the transmission ropes 17 are provided on the stepped pressure frames 20 to form pressing in cooperation with the transmission ropes 17 wound into the rope winding grooves 18. During the process of the winding drive pinch rollers 16 driving the transmission ropes 17, the slipping of the transmission ropes 17 relative to the rope winding grooves 18 is reduced.

[0046] 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.

[0047] 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.

[0048] In summary, the working principle of this immersive traditional Chinese medicine knowledge learning system is as follows. Before use, first install the corresponding immersive traditional Chinese medicine knowledge learning system. Connect the teaching sensor 11, collaborative robotic arm 5, air supply pump 13, first servo motor 15, second servo motor 26, and electromagnetic control valve to the intelligent host 12 to achieve centralized control. Pre-load the traditional Chinese medicine knowledge repository and supporting VR software into the intelligent host 12, and perform corresponding debugging work to form the construction of the knowledge extraction and call path of the VR software relative to the traditional Chinese medicine knowledge repository, so as to form a multi-strategy extraction learning method in combination with VR glasses and learning gloves. After debugging, the immersive traditional Chinese medicine knowledge learning system can be used for learning. Before learning, the learner wears the VR glasses 1 on the head, wears two learning gloves 4 on both hands respectively, and inserts the fingers into the corresponding finger sleeves 6. Then turn on the intelligent host 12 and start the VR software in the intelligent host 12. The VR software calls the corresponding learning content in the traditional Chinese medicine knowledge repository to form corresponding learning. During the learning process, the external image acquisition camera 14 forms the image acquisition of the external real scene within the corresponding visual range according to the head movement of the learner, and transmits the acquired real scene image into the intelligent host 12 in real time. Through the VR software in the intelligent host 12, the learning content and the real scene are relatively integrated to improve the visual realism of the virtual image rendered by the VR glasses 1. In the learning state, the linear installation component and the VR software in the intelligent host 12 work together. That is, multiple first servo motors 15 operate in coordination to drive the rotation of the winding drive pinch roller 16. 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 ends of a single transmission rope 17 are respectively connected to the two surfaces (i.e., the back of the hand and the palm surface) of the learning glove 4, the driving of the two surfaces is relative. During the rotation of the winding drive pinch roller 16, due to the action of the tapered end surface on the pushing ring 22, when the transmission rope 17 initially enters the rope winding groove 18, the return spring 21 acts on the stepped pressure frame 20, causing the stepped pressure frame 20 to retract into the stepped side hole 19. When the transmission rope 17 has entered the rope winding groove 18 for a period of time, due to the pushing action of the tapered end surface on the pushing ring 22, the stepped pressure frame 20 overcomes the elastic force of the return spring 21 and extends out of the stepped side hole 19. The strip round head 23 on the stepped pressure frame 20 extending out of the stepped side hole 19 contacts and presses the transmission rope 17. Along with the synchronous movement of the transmission rope 17 and the winding drive pinch roller 16, when the transmission rope 17 approaches the position where it is about to turn away from the rope winding groove 18, the strip round head 23 on the stepped pressure frame 20 moves away from the transmission rope 17 to facilitate the transmission rope 17 to turn away from the rope winding groove 18. Combining with the specific content in the traditional Chinese medicine knowledge repository retrieved and executed by the VR software, it assists the learner's hand to form adjustments. At the same time, the air supply pump 13 combines with the specific content in the traditional Chinese medicine knowledge repository retrieved and executed by the VR software to assist the learner's fingers to form adjustments.To assist in the implementation 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 positive pressure state of the telescopic air tube 7. Positive pressure means that there is more compressed air in the telescopic air tube 7, and the telescopic air tube 7 is in the 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 the contracted state. As shown in the attached Figure 11 installation state shown, when the telescopic air tube 7 contracts, the corresponding finger sleeve 6 has a driving effect to assist in straightening. When the telescopic air tube 7 extends, the corresponding finger sleeve 6 has a driving effect to assist in bending. The number of air supply pumps 13 is two. 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 positive pressure state.

[0049] Furthermore, during the movement of the learner's hand, the collaborative robotic arm 5 is used to assist in the spatial adjustment of the learner's hand. This adjustment process is divided into two environments: full active adjustment and collaborative adjustment. In the full active adjustment environment, the hand has not yet contacted and interfered with the virtual object simulated by the VR glasses 1. In this state, the teaching sensor 11 forms a complete control access function, and the collaborative robotic arm 5 does not match the program generated by the VR software to form an active movement. Under the autonomous movement trend of the learner's hand, the collaborative robotic arm 5 forms a follow-up movement according to the movement of the hand. During the learning state, when the hand contacts and interferes with the virtual object simulated by the VR glasses 1, in this state, it enters the collaborative adjustment environment. When the teaching sensor 11 forms an access function, the collaborative robotic arm 5 forms a movement interference with the movement of the hand. In the autonomous movement state of the learner's hand, to imitate the effect of the hand contacting the virtual object, the movement process of the collaborative robotic arm 5 includes the movement of the collaborative robotic arm 5 itself and the adjustment movement of the relative height with respect to the gantry 3. When the collaborative robotic arm 5 forms a height adjustment with respect to the gantry 3, the second servo motor 26 operates to drive the rotation of the vertical lead screw 25. The rotation of the vertical lead screw 25 cooperates with the thread function of the vertical mounting seat 24 to achieve the height adjustment of the vertical mounting seat 24 within the gantry 3, and then achieve the height adjustment of the collaborative robotic arm 5. Considering the learning effect comprehensively, to improve the authenticity of learning, it is possible to integrate the existing teaching model into the virtual scene to improve the authenticity of simulation learning. For example, during the acupuncture point learning process, a human model can be added, and the external image acquisition camera 14 can be used to collect images of the real external scene of the human model, and the human model can be integrated into the learning content. To facilitate the placement of the teaching model, the auxiliary storage component can be adjusted to the state shown in the attached Figure 12 figure and the state shown in the attached Figure 13 figure. In the state shown in the attached Figure 12 figure, it is convenient to horizontally place the teaching model flat. In the state shown in the attached Figure 13 figure, it is convenient to vertically place the teaching model upright. In the state shown in the attached Figure 1In the shown state, the influence of the auxiliary storage component on the standing of the learner can be reduced. From the attachment Figure 1 Adjust to the attachment Figure 12 Only need to first rotate the horizontal rotation frame 27 relative to the bottom frame 2 so that the synchronous pin holes 31 on the horizontal rotation frame 27 and the synchronous pin holes 31 on the bottom frame 2 are aligned for adjustment, and then insert the limit pin 28. From the attachment Figure 12 Adjust to the attachment Figure 13 In the shown state, it is necessary to first push the exposed part of the double-headed pin holder 33 forward to elastically compress the pin spring 34 against its elastic force, so as to achieve the synchronous movement of the double-headed pin holder 33 and the displacement pin holder 35. Subsequently, the insertion function of the double-headed pin holder 33 into the horizontal rotation frame 27 and the insertion function of the displacement pin holder 35 relative to the table board 30 are invalidated, and this invalid state is maintained to form a relative 90-degree rotation adjustment of the vertical rotation frame 29 relative to the horizontal rotation frame 27, and a relative 90-degree rotation adjustment of the table board 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. The two raised points behind the double-headed pin holder 33 will respectively be stuck at both ends of the horizontal rotation frame 27, and the displacement pin holder 35 will also be inserted into the table board 30 again. This state is as shown in the attachment Figure 14 shown, to facilitate the suspension of the teaching material model between the vertically arranged vertical rotation frames 29.

[0050] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. 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 comprises a table frame mechanism and a hand learning mechanism, wherein the table frame mechanism comprises a bottom frame (2) and a gantry frame (3), wherein the gantry frame (3) is fixedly connected to the top of the bottom frame (2), wherein an auxiliary storage component is installed in the bottom frame (2), wherein the auxiliary storage component comprises a transverse rotation frame (27) and a plurality of limit pins (28), wherein the transverse rotation frame (27) is rotationally connected in the bottom frame (2), wherein a vertical rotation frame (29) is rotationally connected in the transverse rotation frame (27), wherein a table top (30) is rotationally connected in the vertical rotation frame (29), wherein the transverse rotation frame (27) and the bottom frame (2) are both provided with two synchronous pin holes (31), wherein the synchronous pin holes (31) match the limit pins (28), and wherein a double-headed locking pin (31) is provided in the vertical rotation frame (29). A hole mounting cavity (32), a double-headed pin frame (33) is slidably connected in the double-headed hole mounting 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 mounting cavity (32), the double-headed pin frame (33) is transmission-connected to a shifting pin frame (35), the shifting pin frame (35) matches the table board (30), the double-headed pin frame (33) matches the horizontal rotation frame (27), a transmission plate (36) is rotationally connected in the double-headed hole mounting 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-headed pin frame (33) and the shifting pin frame (35); The hand learning mechanism comprises two learning gloves (4) and two cooperative mechanical arms (5); the two learning gloves (4) are each provided with five finger sleeves (6); the ten finger sleeves (6) are each provided with a telescopic air tube (7); the ten finger sleeves (6) are each provided with a fixing joint (8) matching the telescopic air tube (7); the two learning gloves (4) are each provided with an inner annular ball (9); the two inner annular balls (9) are each provided with a linear mounting assembly; the two linear mounting assemblies are respectively matched with the two learning gloves (4); the two inner annular balls (9) are each connected to an open ball component (10); the two open ball components (10) are respectively connected to the execution ends of the two cooperative mechanical arms (5), a teaching sensor (11) is installed between the opening ball piece (10) and the execution end of the cooperative mechanical arm (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), and the VR glasses (1) are provided with an external image acquisition camera (14); The two linear mounting assemblies each comprise a plurality of first servo motors (15), the two inner annular balls (9) each comprise a plurality of inner mounting cavities, the plurality of first servo motors (15) are respectively mounted in the plurality of inner mounting cavities, a winding drive roller (16) is mounted on the output shaft of the plurality of first servo motors (15), the two learning gloves (4) are each connected to a plurality of transmission ropes (17), the plurality of transmission ropes (17) are respectively wound in the plurality of winding drive rollers (16), the plurality of winding drive rollers (16) each comprise a rope winding groove (18) matching the transmission rope (17), the side walls of the plurality of rope winding grooves (18) each comprise a plurality of stepped side holes (19), the plurality of stepped side holes (19) are each slidably connected to a stepped pressing frame (20), the plurality of stepped pressing frames (20) are each fixedly connected to a return spring (21), the plurality of return springs (21) ) are fixedly connected in the step side hole (19), a plurality of the inner mounting cavities are fixedly connected with a push ring (22) matching the step pressure frame (20), a plurality of the push rings (22) are provided with a gradient end surface, the step pressure frame (20) is provided with a round head (23) matching the transmission rope (17), two vertical mounting seats (24) are slidably connected in the gantry (3), the two cooperative mechanical arms (5) are respectively mounted on the mutually close ends of the two vertical mounting seats (24), the two vertical mounting seats (24) are threadedly connected with a vertical lead screw (25), the two vertical lead screws (25) are rotatably connected in the gantry (3), the top of the gantry (3) is provided with two recessed side grooves, the two recessed side grooves are provided with a second servo motor (26), and the output shafts of the two second servo motors (26) are respectively transmission-connected with the two vertical lead screws (25).

2. The immersive learning system for traditional Chinese medicine knowledge according to claim 1 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 the permanent magnet (39).

3. The immersive learning system for traditional Chinese medicine knowledge according to claim 2 is 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).

4. 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 3 is used, comprising the following steps: S1. Before use, the TCM knowledge immersive learning system is first installed, and the 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 head of the learner 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 VR software in the intelligent host (12) 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 (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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