CN-121979402-A - Vector force guidance-based intelligent curlicue prevention and writing method

CN121979402ACN 121979402 ACN121979402 ACN 121979402ACN-121979402-A

Abstract

The intelligent anti-curlicue based on vector force guiding and writing method comprises a pen body shell, an inner core support, a slidable writing refill component, a tremble suppression module, a vector force stroke auxiliary driving module, a bidirectional interaction module and a main controller, wherein the tremble suppression module monitors shake transmitted to the pen body due to tremble of a hand of a user in real time through a built-in inertial measurement unit and drives a reverse micro-vibration component to generate a dynamically matched compensation moment, and meanwhile, the vector force stroke auxiliary driving module applies a physical guiding force with controllable direction to the writing refill component in a two-dimensional writing plane according to a stroke instruction issued by an external intelligent terminal. The main controller cooperatively regulates and controls the anti-shake and guiding, and performs closed-loop communication with the external terminal through the bidirectional interaction module. The invention combines the active anti-shake function and the active stroke guide function, can effectively help the hand tremble patient to stably write, assists the writing learner to master the correct stroke order, and remarkably improves the writing stability and accuracy.

Inventors

LIU PAN
CAO XUAN
LIU FEI
LI BING
Lv Fa
ZHOU YUAN
OUYANG JIANFENG
LIU YUZHI
MAO YI
Zhong Meixing

Assignees

邵阳工业职业技术学院

Dates

Publication Date: 20260505
Application Date: 20260224

Claims (10)

1. An intelligent anti-curlicue based on vector force guidance is characterized by comprising a pen body shell, an inner core support, a writing pen core component, a tremble suppression module, a vector force stroke auxiliary driving module, a bidirectional interaction module and a main controller, The pen body shell is provided with a hollow inner cavity, and is provided with a holding part for holding by a user and a pen point part from which a pen point extends; the writing pen refill assembly is slidably arranged along the central axis direction of the pen body shell and comprises a pen refill used for forming writing on a writing medium and a pen refill sleeve used for accommodating and holding the pen refill, and the pen tip of the pen refill can penetrate through the pen point of the pen tip of the pen body shell and extend out of the through hole and is contacted with the writing medium; The vibration suppression module is integrally arranged on the inner core support and is used for counteracting vibration transmitted to the pen body shell by unconscious vibration of hands of a user through generating compensation moment, and comprises an inertia measurement unit, a bidirectional digital interaction module and a vibration suppression module, wherein the inertia measurement unit is arranged on a base surface of the inner core support and is used for monitoring and collecting angular velocity and linear acceleration data generated by the pen body shell due to hand vibration in real time, the data are used as original input signals for representing vibration states, and each reverse micro vibration assembly comprises a micro vibration motor and an eccentric mass block fixedly connected to an output shaft of the motor; The main controller is arranged on a circuit board of the internal core support, is respectively and electrically connected with the tremor suppression module, the vector force stroke auxiliary driving module and the electric component of the digital interaction module, and is used for receiving and processing data of each module and cooperatively regulating and controlling actions of the tremor suppression module and the vector force stroke auxiliary driving module based on a control algorithm.
2. The vector force guidance-based intelligent control curlicue of claim 1, wherein the internal core support serves as a mounting platform for the internal module, and wherein the internal core support is rigidly connected to the inner wall of the pen body housing by an integral molding to ensure structural stability.
3. The vector force guidance-based intelligent control curlicue of claim 1, wherein the vector force stroke auxiliary drive module is coupled in motion with a cartridge sleeve of the writing cartridge assembly for applying a controllable physical guidance force to the writing cartridge assembly in a direction in a two-dimensional writing plane according to an external command.
4. The vector force guidance-based smart control curlicue of claim 1, wherein the two-way digital interaction module is associated with a writing cartridge assembly for sensing writing state information of a pen tip in real time and communicating with an external smart terminal wirelessly.
5. The vector force guidance based smart control curlicue of claim 1, The main controller is further configured to continuously receive and process tremble data acquired by the inertial measurement unit at high frequency, calculate a compensation moment vector opposite to the current tremble trend in real time through a built-in inverse dynamic model algorithm, decompose the vector into a control signal, and drive a miniature vibration motor in the inverse micro-vibration assembly to rotate at a specific rotating speed and a specific phase, so that the eccentric mass block generates a compensation moment which is opposite to the hand tremble moment and dynamically matches the hand tremble moment in direction, and dynamic stability of the pen body shell is realized.
6. The vector force guidance-based smart control curlicue of claim 3, wherein the vector force stroke auxiliary drive module comprises: A driver fixed frame as a base for the vector force stroke auxiliary drive module mounted on the inner core support; an array of linear drives, the array being composed of at least two linear micro-drives, the linear micro-drives being mounted on the drive-fixing frame, respectively, and their linear drive directions being spatially orthogonal to each other, together defining a two-dimensional planar drive coordinate system (X-Y coordinate system) perpendicular to the central axis of the pen body housing; the movable guide mechanism is connected with the outer wall of the pen core sleeve, can be driven by the linear driver array and performs translational movement in a two-dimensional plane driving coordinate system; The transmission connection structure is arranged between the output end of each driver in the linear driver array and the movable guide mechanism and is used for transmitting the linear displacement or thrust of each driver to the movable guide mechanism; the main controller is further configured to receive a stroke vector command forwarded by the bidirectional digital interaction module and originating from the external intelligent terminal, decompose the vector command into driving components in two directions of an X axis and a Y axis in a two-dimensional plane driving coordinate system, and generate independent control signals according to the driving components, respectively and accurately control the corresponding axial linear micro-drivers to generate preset displacement or thrust, wherein the displacement or thrust acts on the movable guide mechanism together through the transmission connection structure, so as to synthesize a physical driving resultant force conforming to the original stroke vector command, and the resultant force is directly applied to the writing pen core assembly through the connection of the movable guide mechanism and the pen core sleeve to guide the pen core to move along a preset stroke track on the surface of the writing medium.
7. The intelligent anti-curlicue based on vector force guidance according to claim 6, wherein the movable guide mechanism is a guide ring, the guide ring is sleeved on the periphery of the pen core sleeve and fixedly connected with the periphery of the pen core sleeve, the outer edge of the guide ring is provided with a contact surface matched with the transmission connection structure, the driver fixing frame is also provided with a guide rail structure, and the guide ring is restrained to be capable of translating only in a two-dimensional plane driving coordinate system through sliding fit with the guide rail structure, so that the accuracy of guide action is ensured and the inclination of the pen core is prevented.
8. The vector force guidance-based intelligent control curlicue as set forth in claim 6 or 7, wherein the linear micro-actuator is a voice coil motor or a piezoelectric ceramic actuator to achieve high response speed and high displacement resolution driving performance, and the transmission connection structure is a push rod structure having one end hinged to an output end of the actuator and the other end in contact with the movable guide mechanism.
9. The intelligent anti-curlicue based on vector force guidance according to claim 4, wherein the bidirectional digital interaction module comprises a nib state sensing device arranged at a nib of the pen body shell and structurally close to the nib of the pen core, the device comprises a nib pressure sensor arranged between the tail end of the pen core and a bearing bottom surface inside the pen core sleeve and used for converting axial pressure applied to the pen core by a user during writing into an electric signal in real time, a nib position tracking device used for tracking and recording motion track coordinates of the nib of the pen core relative to the surface of a writing medium in real time and high precision, the nib position tracking device is a miniature optical tracking device, the device comprises a miniature image sensor and a miniature wide-angle lens matched with the miniature image sensor, the miniature image sensor and the miniature wide-angle lens are fixedly arranged on the inner wall of the nib of the pen body shell, the optical axis of the miniature illumination light source is oriented at an inclined angle to the surface area of the writing medium in front of the pen core, the miniature illumination light source is arranged adjacent to the miniature camera so as to eliminate interference of ambient light variation, the wireless communication unit comprises a Bluetooth or-Fi transceiver chip and an antenna, the wireless communication unit is used for tracking the nib position of the pen core relative to the surface of the writing medium in real time, the wireless communication device is further comprises a wireless communication device, the wireless communication device is used for acquiring data from the wireless communication data from the external communication device through the wireless communication device, and the wireless communication device is integrated with the wireless communication device, and the wireless communication device is configured with the wireless communication device, and the wireless communication device is capable of acquiring data from the wireless communication device, the main controller or a built-in coprocessor is also configured to control the miniature image sensor to carry out continuous high-speed frame shooting on the surface of the writing medium, and to compare and analyze the miniature displacement and rotation between continuous frame images by using a digital image correlation algorithm or a characteristic point tracking algorithm, so as to accurately calculate the instantaneous motion vector of the pen body shell relative to the writing medium, and finally calculate the real-time motion track of the pen point by combining the structural parameters of the pen body.
10. The method of writing to vector force guided intelligent anti-curlicue according to any one of claims 1 to 9, comprising the steps of: step A, system initialization and communication establishment Starting the intelligent control curlicue and an external intelligent terminal, and automatically establishing wireless data communication between a wireless communication unit in the intelligent control curlicue and the external intelligent terminal; the application software of the external intelligent terminal loads a target font, automatically decomposes the target font into a stroke sequence data structure containing a plurality of ordered strokes according to a preset Chinese character stroke order rule or a writing font model, and each stroke is defined as a vector data set containing information such as a starting point coordinate, a direction vector, a length, a recommended writing speed and the like; step B, iterative issuing of stroke instruction The external intelligent terminal extracts a vector data set of a first stroke from the stroke sequence data structure, encapsulates the vector data set into a vector control instruction, and sends the vector control instruction to a main controller of the intelligent control curlicue through an established communication link; step C, executing the compound action of the pen body C1-continuous anti-shake, namely starting a high-priority tremble suppression thread by a main controller of the intelligent anti-curlicue, enabling the high-precision tremble suppression module to continuously work, and counteracting tremble of hands of a user in real time; C2-active guiding, wherein at the same time, the main controller analyzes the received vector control instruction in a standard priority thread and drives the vector force stroke auxiliary driving module to apply physical guiding force matched with the current instruction to the writing refill component; step D, real-time tracking and data returning in writing process The user writes on the writing medium under the assistance of the physical guiding force, and in the process, the nib state sensing system in the bidirectional digital interaction module collects and generates actual handwriting data containing the actual movement track and writing pressure of the nib in real time; The main controller packs the acquired actual handwriting data and transmits the actual handwriting data back to the external intelligent terminal in real time and uninterruptedly through the wireless communication unit; Step E, cloud closed loop comparison and process iteration After receiving the returned actual handwriting data, the application software of the external intelligent terminal performs real-time graphic comparison and similarity analysis on the returned actual handwriting data and a target stroke track represented by a currently issued vector control instruction; When the comparison result meets a preset stroke completion degree threshold value or the writing time exceeds a preset time limit, the external intelligent terminal judges that the current stroke is completed, then a vector data set of the next stroke is automatically loaded from the stroke sequence data structure, the vector data set is packaged into a new vector control instruction, the issuing operation of the step B and the steps C to E are returned and repeatedly executed until all strokes in the stroke sequence data structure are executed, and therefore active guiding writing of the whole target font is completed.

Description

Vector force guidance-based intelligent curlicue prevention and writing method Technical Field The invention relates to an intelligent anti-curlicue based on vector force guidance and a writing method. Background Writing is the basic skill of humans to communicate, learn and express ideas. However, it is a great challenge for a particular population to achieve smooth, clear writing. On one hand, the nervous system diseases such as parkinsonism, essential tremor and the like can cause involuntary tremor of the hands of a patient, so that handwriting is seriously distorted, difficult to recognize and the life quality and the dignity of the patient are greatly influenced. On the other hand, how to accurately grasp the sequence, direction and structure of strokes is also a long-standing difficulty for children who are learning to write complex characters (such as chinese characters) or for patients who need to perform writing rehabilitation training due to stroke and the like. Aiming at the problem of hand tremor, the prior art mainly provides the following solutions: 1. passive aids, such as weighted pens, pen holders, etc., by increasing the weight of the pen or changing the manner of holding. The tool has a simple structure, but has limited anti-shake effect, cannot adapt to real-time change of tremors, and has weak tremors inhibiting capability on moderate or above tremors. 2. Active anti curlicue some of the prior art propose smart pens that actively counteract tremors by built-in sensors and actuators. However, these active anti-curlicue generally suffer from the disadvantage that firstly, the tremor compensation model is relatively simple, and most of the active anti-curlicue adopts compensation with single axis or limited degrees of freedom, so that complex and multi-dimensional hand tremor moment in the real world is difficult to precisely offset, and the anti-tremor effect is unstable, and residual tremor still exists. Secondly, the function is single, focusing on 'anti-shake', and the problem of accuracy of writing content per se cannot be solved, namely guidance on 'what to write' and 'how to write' cannot be provided for a user. For the assistance of writing learning and rehabilitation, the prior art mainly relies on: 1. Copybooks and tracing books are the most traditional learning mode, but are completely dependent on subjective motility and imitation ability of users, and lack real-time and physical feedback and correction. 2. Digital writing applications some application software (APP) may provide stroke guidance and error determination on a touch screen. However, the practice in this virtual environment is greatly different from the physical writing experience on real paper, and does not effectively exercise the muscle control of the hands. In addition, it separates the user from the writing process and does not provide physical guidance at the moment the writing action occurs. In summary, there is an obvious gap in the prior art that there is a lack of an intelligent writing tool capable of seamlessly integrating two core functions of "real-time active anti-shake" and "accurate stroke guidance". The existing curlicue can not provide guidance of writing contents, but the existing writing guidance tool can not solve the problem of hand tremors, and a comprehensive solution for real-time tracking, closed-loop feedback and cooperative control in the actual writing physical process can not be realized. Therefore, developing an intelligent device that can not only effectively suppress hand tremors, but also actively guide users to perform accurate stroke writing has important social value and market needs, the technical background section of the present invention is intended to illustrate the current state of the art, and the deficiency of the prior art indicates that the content of this section will provide necessary background information for understanding the technical contributions and innovations of the present invention, and the signals disclosed in this background section are only intended to increase the understanding of the overall background of the present invention, and should not be considered as implying any way to constitute subjective consciousness. Disclosure of Invention In view of the foregoing, it is an object of the present invention to provide a vector force guidance based intelligent control curlicue. The technical proposal adopted for realizing the aim of the invention is that the intelligent anti-curlicue based on vector force guidance comprises a pen body shell, an internal core bracket, a writing pen core component, a tremble suppression module, a vector force stroke auxiliary driving module, a bidirectional interaction module and a main controller, The pen body shell is provided with a hollow inner cavity, and is provided with a holding part for holding by a user and a pen point part from which a pen point extends; the writing pen refill assembly is slidably arranged along