CN105999719A - Action real-time driving system and method based on action demonstration - Google Patents
Action real-time driving system and method based on action demonstration Download PDFInfo
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- CN105999719A CN105999719A CN201610352216.3A CN201610352216A CN105999719A CN 105999719 A CN105999719 A CN 105999719A CN 201610352216 A CN201610352216 A CN 201610352216A CN 105999719 A CN105999719 A CN 105999719A
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- action
- movement data
- demonstration
- demonstration movement
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H29/00—Drive mechanisms for toys in general
- A63H29/22—Electric drives
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Abstract
The invention discloses an action real-time driving system based on action demonstration. The system comprises an action demonstration device independent from a controlled object, a demonstration action data processing and forwarding module and the controlled object including an action driving module; the system is characterized in that the action demonstration device, the demonstration action data processing and forwarding module and the action driving module are in communication connection; the action demonstration device is used for generating original demonstration action data; the demonstration action data processing and forwarding module is used for receiving the demonstration action data generated by the action demonstration device, converting the demonstration action data into action data applicable to a controlled object joint mechanism in accordance with differences between a joint structure in correspondence to the demonstration action data and the controlled object joint structure, and transmitting the action data to the action driving module; and the action driving module is used for controlling the controlled object to execute corresponding actions in accordance with the received demonstration action data. Meanwhile, the invention also discloses an action real-time driving method based on the action demonstration.
Description
Technical field
The present invention relates to a kind of toy motion drive system, especially relate to a kind of action Real Time Drive system and method based on action modeling, belong to intelligent toy technical field.
Background technology
Along with the development of toy industry, increasing toy, to intelligent development, occurs in that intelligent toy based on fugleman's action control toy motion.In prior art, such cardinal principle controlling technology is to control the action of controlled device according to the action data of human action trap setting collection, and controlled device includes robot and intelligent toy etc..Above-mentioned control technology generally comprises the following step being separated from each other: A, gathers demonstration movement data by human action trap setting；B, Record and Save demonstration movement data；C, start controlled device, by the demonstration movement market demand that records in it, drive it to reproduce those demonstration movements.But, in prior art there is following technical problem in drive system based on action:
(1) controlling target can only be humanoid robot, it is desirable to articulation structure and mankind's approximation, the different device of articulation structure is uncontrollable；(2) demonstration movement data have to first preserve, and then could reproduce, demonstration movement cannot Real Time Drive control target motion, fugleman cannot Real Time Observation control target action effect；(3) mode gathering demonstration movement is limited only to motion capture one；(4) demonstration main body can only be people.
Summary of the invention
The present invention is directed to deficiencies of the prior art, it is provided that a kind of action Real Time Drive system based on action modeling, by multiple demonstration movement acquisition mode, it is achieved the Real Time Drive of controlled device and applied widely, simple to operate.
To this end, the present invention adopts the following technical scheme that
A kind of action Real Time Drive system based on action modeling, including: independent of the action modeling device of controlled device, demonstration movement data process and forwarding module, and, comprise the controlled device of action drives module, it is characterised in that: action modeling device, demonstration movement data process communication between forwarding module and action drives module and connect；Action modeling device produces original demonstration movement data, and the original demonstration movement produced is sent to the process of demonstration movement data and forwarding module；Demonstration movement data process and forwarding module receives the demonstration movement data that action modeling device produces, the articulation structure corresponding according to demonstration movement data and the difference of controlled device articulation structure, demonstration movement data are converted into the action data being suitable for controlled device articulation mechanism, and are sent to action drives module；Action drives module performs corresponding action according to the demonstration movement Data Control controlled device received, it is achieved the real-time control to controlled device.
Further, described action modeling device produces original demonstration movement data by motion capture, computer skeleton cartoon real-time edition, game paddle manipulation, the manipulation of vr glove.
Further, described demonstration movement data process and forwarding module has recording function, can demonstration movement data be preserved.
Further, action modeling device, demonstration movement data process and forwarding module and action drives module between by standard or customize wireless or wired communication modes carry out communication.
Another aspect of the present invention, also provides for a kind of action Real Time Drive method based on action modeling, comprises the steps:
S1: produce original demonstration movement data: the action modeling device independent of controlled device produces original demonstration movement data, and the original demonstration movement produced is sent to the process of demonstration movement data and forwarding module；
S2: process original demonstration movement data: demonstration movement data process and forwarding module receives the demonstration movement data that action modeling device produces, the articulation structure corresponding according to demonstration movement data and the difference of controlled device articulation structure, demonstration movement data are converted into the action data being suitable for controlled device articulation structure, and are sent to action drives module；
S3: drive controlled device action: action drives module, according to the demonstration movement data received, controls controlled device and performs corresponding action, it is achieved the real-time control to controlled device.
Further, in step in S1, action modeling device produces original demonstration movement data by motion capture, computer skeleton cartoon real-time edition, game paddle manipulation, the manipulation of vr glove.
Further, in step in S2, demonstration movement data are recorded and preserve, for later Reusability.
There is advantages that
1, the demonstration movement data Real Time Drive touchable toy execution action collected by action modeling device so that the action effect of fugleman's energy Real Time Observation toy, is greatly improved toy motion design, the feedback speed of layout.
2, can automatically change demonstration movement data according to the difference of the articulation structure of toy Yu the articulation structure of demonstration movement, make it to be applied to adaptively the toy of various different articulation structure.
3, multiple (different articulation structures) toy can be simultaneously driven.
4, demonstration movement data can be recorded, and can repeatedly be applied to the toy of multiple different articulation structure.
5, can unrestricted choice suitable action modeling device and mode, such as motion capture system, computer skeleton cartoon real-time edition system, game paddle, vr glove etc., more flexibly.
6, non-developer (including toy user) is made to could be used that the action of toy is customized by this system without the exploitation knowledge of study specialty.
Accompanying drawing explanation
Fig. 1 is embodiments of the invention 1 structured flowcharts；
In figure, 1 is action modeling device, and 2 process and forwarding module for demonstration movement data, and 3 for driving module, and D1 is original demonstration movement data, and D2 is the action data of suitable toys body articulation structure of generation after conversion.
Detailed description of the invention
In order to make those skilled in the art be better understood from the present invention program, below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete description.
Embodiment 1:
As it is shown in figure 1, the action Real Time Drive system based on action modeling of the present embodiment, including: independent of the action modeling device 1 of intelligent toy, demonstration movement data process and forwarding module 2, and, comprise the controlled device of action drives module 3.
Action modeling device 1, demonstration movement data process and forward communication between 2 modules and action drives module 3 to connect.
Action modeling device 1 produces original demonstration movement data D1 by modes such as motion capture, computer skeleton cartoon real-time edition, game paddle manipulation or vr glove manipulations, and original demonstration movement data D1 produced are sent to the process of demonstration movement data and forwarding module 2；Certainly, the producing method of original demonstration movement data is not limited to above-mentioned listed, as long as the prior art that can produce demonstration movement in principle all can use.
Demonstration movement data process and forwarding module 2 receives the demonstration movement data that action modeling device 1 produces, the articulation structure corresponding according to demonstration movement data and the difference of controlled device articulation structure, demonstration movement data are converted into the action data D2 being suitable for controlled device articulation mechanism, and it is sent to action drives module 3, simultaneously, demonstration movement data process and forwarding module 2 has recording function, can demonstration movement data be preserved, for later Reusability；Action drives module 3 performs corresponding action according to the demonstration movement Data Control controlled device received, it is achieved the real-time control to controlled device.
The present embodiment illustrates as a example by an intelligent toy, the inside of this intelligent toy is equipped with wifi communication chip, micro-control circuit plate and servomotor, micro-control circuit plate and servomotor, respectively as driving control parts and the action executing parts of module 3, realize intelligent toy action jointly.Its moving part includes two wings and a head, and wherein the freedom of motion connecting joint of wing and health is 1, agitates the most up and down, and the freedom of motion connecting joint of head and health is also 1, i.e. left rotation and right rotation.
Action modeling device 1, demonstration movement data process between forwarding module 2 and action drives module 3 by WIFI wireless telecommunications.
The action modeling device 1 of the present embodiment produces original demonstration movement data by the way of motion capture, using a table surface computer and complete the software of respective algorithms and process and forwarding module 2 as demonstration movement data.During use, 1, action modeling device gathers the head of people and the exercise data of arm, and wherein the freedom of motion of head is 3: horizontally rotates, swing, pitch；The freedom of motion of arm is also 3, it may be assumed that swing up and down, swing along the horizontal plane, along vertical swing；Demonstration movement data process and the processing method of forwarding module 2 is as follows: only retain head and the demonstration movement data of arm wherein 1 degree of freedom, filter the demonstration movement data of other two degree of freedom, be sent to action drives module 3 the most in real time；
The exercise data of 1 degree of freedom that action drives module 3 processes according to demonstration movement data and forwarding module 2 sends over calculates in real time, obtain controlling the parameter of the servomotor of wing and head, and controlling servomotor rotation by the corresponding output port output signal of telecommunication of micro-control circuit plate, the rotation of motor drives wing and the head real-time reproducing demonstration movement of toy.
Certainly, the present invention can be additionally used in the control of intelligent robot.
Embodiment
2
Another aspect of the present invention, it is provided that a kind of action Real Time Drive method based on action modeling, comprises the steps:
S1: produce original demonstration movement data: the action modeling device independent of controlled device produces original demonstration movement data by modes such as motion capture, computer skeleton cartoon real-time edition, game paddle manipulation, vr glove manipulations, and the original demonstration movement produced is sent to the process of demonstration movement data and forwarding module；
S2: process original demonstration movement data: demonstration movement data process and forwarding module receives the demonstration movement data that action modeling device produces, the articulation structure corresponding according to demonstration movement data and the difference of controlled device articulation structure, demonstration movement data are converted into the action data being suitable for controlled device articulation structure, and are sent to action drives module；Demonstration movement data are recorded simultaneously and preserve, for later Reusability；
S3: drive controlled device action: action drives module, according to the demonstration movement data received, controls controlled device and performs corresponding action, it is achieved the real-time control to controlled device.
Obviously, described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, all should belong to the scope of protection of the invention.
Claims (7)
1. an action Real Time Drive system based on action modeling, including: independent of the action modeling device of controlled device, demonstration movement data process and forwarding module, and, comprise the controlled device of action drives module, it is characterised in that: action modeling device, demonstration movement data process communication between forwarding module and action drives module and connect；Action modeling device produces original demonstration movement data, and the original demonstration movement produced is sent to the process of demonstration movement data and forwarding module；Demonstration movement data process and forwarding module receives the demonstration movement data that action modeling device produces, the articulation structure corresponding according to demonstration movement data and the difference of controlled device articulation structure, demonstration movement data are converted into the action data being suitable for controlled device articulation mechanism, and are sent to action drives module；Action drives module performs corresponding action according to the demonstration movement Data Control controlled device received, it is achieved the real-time control to controlled device.
Action Real Time Drive system based on action modeling the most according to claim 1, it is characterised in that: described action modeling device produces original demonstration movement data by motion capture, computer skeleton cartoon real-time edition, game paddle manipulation, the manipulation of vr glove.
Action Real Time Drive system based on action modeling the most according to claim 1, it is characterised in that: described demonstration movement data process and forwarding module has recording function, can demonstration movement data be preserved.
Action Real Time Drive system based on action modeling the most according to claim 1, it is characterised in that: described action modeling device, demonstration movement data process and forwarding module and action drives module between by standard or customize wireless or wired communication modes carry out communication.
5. an action Real Time Drive method based on action modeling, comprises the steps:
S1: produce original demonstration movement data: the action modeling device independent of controlled device produces original demonstration movement data, and the original demonstration movement produced is sent to the process of demonstration movement data and forwarding module；
S2: process original demonstration movement data: demonstration movement data process and forwarding module receives the demonstration movement data that action modeling device produces, the articulation structure corresponding according to demonstration movement data and the difference of controlled device articulation structure, demonstration movement data are converted into the action data being suitable for controlled device articulation structure, and are sent to action drives module；
S3: drive controlled device action: action drives module, according to the demonstration movement data received, controls controlled device and performs corresponding action, it is achieved the real-time control to controlled device.
Action Real Time Drive method based on action modeling the most according to claim 5, it is characterized in that: in step in S1, action modeling device produces original demonstration movement data by motion capture, computer skeleton cartoon real-time edition, game paddle manipulation, the manipulation of vr glove.
Action Real Time Drive method based on action modeling the most according to claim 5, it is characterised in that: in step in S2, demonstration movement data are recorded and preserve, for later Reusability.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610352216.3A CN105999719A (en) | 2016-05-25 | 2016-05-25 | Action real-time driving system and method based on action demonstration |
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| CN201610352216.3A CN105999719A (en) | 2016-05-25 | 2016-05-25 | Action real-time driving system and method based on action demonstration |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106354043A (en) * | 2016-11-05 | 2017-01-25 | 杭州畅动智能科技有限公司 | Control system of device |
| CN106527224A (en) * | 2016-11-05 | 2017-03-22 | 杭州畅动智能科技有限公司 | Control method for equipment |
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| TW201310339A (en) * | 2011-08-25 | 2013-03-01 | Hon Hai Prec Ind Co Ltd | System and method for controlling a robot |
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| CN204414118U (en) * | 2015-01-23 | 2015-06-24 | 弘讯科技股份有限公司 | Control device |
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| TWI348639B (en) * | 2005-12-16 | 2011-09-11 | Ind Tech Res Inst | Motion recognition system and method for controlling electronic device |
| CN101520902A (en) * | 2009-02-24 | 2009-09-02 | 上海大学 | System and method for low cost motion capture and demonstration |
| TW201310339A (en) * | 2011-08-25 | 2013-03-01 | Hon Hai Prec Ind Co Ltd | System and method for controlling a robot |
| CN103398702A (en) * | 2013-08-05 | 2013-11-20 | 青岛海通机器人系统有限公司 | Mobile-robot remote control apparatus and control technology |
| CN204414118U (en) * | 2015-01-23 | 2015-06-24 | 弘讯科技股份有限公司 | Control device |
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| CN106527224A (en) * | 2016-11-05 | 2017-03-22 | 杭州畅动智能科技有限公司 | Control method for equipment |
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Application publication date: 20161012 |