CN100484726C - Flexible and remote-controlled operation platform for robot based on virtual reality - Google Patents
Flexible and remote-controlled operation platform for robot based on virtual reality Download PDFInfo
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- CN100484726C CN100484726C CNB2006100264946A CN200610026494A CN100484726C CN 100484726 C CN100484726 C CN 100484726C CN B2006100264946 A CNB2006100264946 A CN B2006100264946A CN 200610026494 A CN200610026494 A CN 200610026494A CN 100484726 C CN100484726 C CN 100484726C
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Abstract
The invention relates to a remote control platform based on virtual reality robot hand, which is formed by a man-machine interface system and a remote-control robot hand system. Wherein, said man-machine interface system is a virtual operation platform formed by one computer to supply the operation interface of operator; said remote-control robot hand system comprises a robot hand connected to the robot hand controller; a robot hand controller connected to an upper control computer; and a CCD camera aiming said robot hand to pick up its position and state; while said upper computer and CCD camera via cables are both connected to said virtual operation platform. The invention can realize remote operation and the offline operation to realize the simulation on variable control algorithmic. It can reduce the control notes most, to improve the response speed and the cost of hardware and software.
Description
Technical field
The present invention relates to a kind ofly based on virtual reality robot delicate remote-controlled operation platform, it is that telecontrol engineering, virtual reality technology and robot delicate technology are combined, a virtual reality robot delicate remote-controlled operation platform of formation.Can be applied to association areas such as teleoperation of robot field and robot teaching.
Background technology
At present about yet there are no commercial product based on virtual reality robot delicate remote-controlled operation platform.Adopting in the Dextrous Hand remote control system of virtual reality technology, relate to a subject matter, is exactly to the Dextrous Hand control mode.For the research of this problem, relevant research report is also arranged both at home and abroad, relatively the typical control method is to control Dextrous Hand with data glove; Second method is an installing space position tracker on staff finger tip and palm, by the motion of staff, measures the coordinate of finger and palm, and then is mapped to the finger end and the palm of Dextrous Hand, reaches the purpose that the control robot delicate grasps object; The third method is the attitude action with the stereovision technique capture operation personnel hand of twin camera, it is mapped to the robot delicate kinematic parameter controls Dextrous Hand.
More than three kinds of methods exist all that system's link is many, error is big, the shortcoming of operability difference.The method that the present invention adopts is with common keyboard and mouse the graphics Simulation hand in the virtual environment to be operated, and finishes various operations thereby drive true Dextrous Hand synchronously.This method has not only reduced controlling unit, has improved control response speed, and has reduced the hardware and software cost of system.
Summary of the invention
The objective of the invention is to provide a kind of based on virtual reality robot delicate remote-controlled operation platform, it can not only realize distant operation, make operating personnel's operating environment out of danger, and its man-machine interface system can also off-line operation, thereby realize that Dextrous Hand grasps the preview of object whole operation process, the emulation of various control algolithms.
In order to achieve the above object, design of the present invention is as follows:
The present invention is divided into two parts with its system in design from the space: i.e. man-machine interface system and distant dexterous robot hand system.As shown in Figure 1.
In man-machine interface system, virtual operation platform is a computer, the virtual emulation environment that contains the kinematics model of the geometrical model of Dextrous Hand and Dextrous Hand, also contain distant robot delicate operating environment image in addition, the real scene that has reflected operation site, make operating personnel can grasp the information of on-the-spot and Dextrous Hand timely and accurately, the position of contrast simulation hand and attitude are so that in time adjust the attitude of Dextrous Hand; Operating personnel's platform is operating personnel's a working interface, observes the data of Dextrous Hand by this interface, and the various data of input Dextrous Hand are controlled the position and the attitude of Dextrous Hand.
In distant dexterous robot hand system, comprise a Dextrous Hand controller and robot delicate, Dextrous Hand is robot end's operator, is the final object of native system control, will move with man-machine interface end virtual hand; The eyes of camera as robot also have been installed in addition, have been photographed the image of robot site and the position and the attitude of Dextrous Hand; Upper control computer is used to collect the information of robot delicate, the control information that man-machine interface system transmits.Various information is merged, determine the extracting strategy of Dextrous Hand then, and various information is fed back to man-machine interface system.
According to the foregoing invention design, the present invention adopts following technical proposals:
A kind of based on Virtual Realization robot delicate remote-controlled operation platform, form by man-machine interface system and distant robot delicate system, it is characterized in that:
(1) man-machine interface system is the virtual operation platform that is made of a computer; Form operating personnel's operation interface;
(2) distant dexterous robot hand system is in the dummy activity scene, and a robot delicate connects a Dextrous Hand controller and controlled by it, and the Dextrous Hand controller connects a upper control computer; There is a CCD camera to aim at robot delicate picked-up Dextrous Hand position and attitude; Described upper control computer and CCD camera all are connected the computer of described virtual operation platform by cable.
In the above-mentioned dummy activity scene, the object and the workbench of placement, robot delicate and the object pose size mark in addition that have robot delicate to grasp; Described robot delicate adopts BH-3 type three to refer to the nine-degree of freedom robot delicate.
All the time demonstrate the state of each joint state of Dextrous Hand and finger tip force feedback on the above-mentioned operation interface; Control panel adopts the form of Windows standard dialog box: arrange nine joint states of virtual Dextrous Hand and force feedback state edit box above control panel, added that on next door, nine joints the tip button is so that can regulate each joint angles independently up and down; Designed at the middle part of control panel and the interface to be set being grabbed object, there are selected respectively cube of three check boxes or ball or three different quilts of cylinder to grab object in this section in the interface, a size pose button is arranged, press this button and can eject another interface and be used for the position of being grabbed object and the setting of size; One group of check box of design and one group of button below control panel, this group check box is used for the selection of control mode and the interpolation of control function; This group button is under manual mode Dextrous Hand to be operated, and its operation has parallel extracting, poly-middle extracting, the tweezer formula grasps and pre-the extracting.
The present invention compared with prior art, have following conspicuous outstanding substantive distinguishing features and advantage: constitute empty environmental operations platform by a computer among the present invention, constitute by robot delicate, Dextrous Hand controller, host computer and CCD camera, be equipped with required software, then have following function:
1. adopt directly actuated mode to realize the distant operation of Human-to-Machine people's Dextrous Hand, operating personnel directly control Dextrous Hand by mouse and keyboard, make Dextrous Hand finish various extracting tasks.
2. adopt the mode remote control Dextrous Hand of teaching, at first finish a certain extracting task, finish similar task automatically by Dextrous Hand then by operating personnel's " religion " Dextrous Hand.
3. adopt autonomous mode to control virtual Dextrous Hand, allow virtual Dextrous Hand, produce the extracting scheme automatically, grasp the preview of process according to geometric properties of being grabbed object and pose.
Thereby the present invention can not only realize distant operation, makes operating personnel's operating environment out of danger, and its man-machine interface system can also off-line operation, thereby realizes the preview to the whole operation process, the emulation of various control algolithms.The present invention has reduced controlling unit in design as far as possible, has improved control response speed, has also reduced the hardware and software cost of system simultaneously.
Description of drawings
Fig. 1 hardware configuration schematic diagram of the present invention.
Fig. 2 hardware connection diagram of the present invention.
Fig. 3 dummy activity scene photo figure.
Fig. 4 robot delicate photo figure.
Fig. 5 control panel figure.
Fig. 6 is grabbed object surface chart is set.
Fig. 7 (Grasp Modes photo figure of a～c).
The specific embodiment
Details are as follows in conjunction with the accompanying drawings for a preferred embodiment of the present invention:
Originally as shown in Figure 2: pseudo operation platform computer is as man-machine interface system based on the real robot delicate remote-controlled operation platform of void.Distant dexterous robot hand system has the BH-3 type three of upper control computer, BJ University of Aeronautics ﹠ Astronautics to refer to nine-degree of freedom robot delicates and controller thereof, camera.In distant dexterous robot hand system, the Dextrous Hand mechanical part can be installed in arbitrarily on the mechanical arm, and electrical appliance part is linked to each other with the Dextrous Hand controller by line, and line is made up of the cable of three strand of 25 line; The Dextrous Hand controller is connected with upper control computer by line, and line is made up of the cable of four strand of 25 line; The line of camera CCD is directly connected to the virtual operation platform USB interface of computer; Upper control computer in virtual operation platform computer and the distant dexterous robot hand system is by line insertion RS-232 interface separately, and remote control distance is in tens meters.
The software design aspect under the VC++6.0 programmed environment, adopts the software interface of this professional 3D graphic hardware of OpenGL, has finished the design of following each function:
1. the design of virtual environment
The dummy activity scene mainly is made up of a virtual robot Dextrous Hand and crawled target, in order to make whole dummy activity scene " truly " more, also adds key elements such as workbench, environmental background in the dummy activity scene, as Fig. 3.Virtual Dextrous Hand refers to that with the BH-3 type three of BJ University of Aeronautics ﹠ Astronautics nine-degree of freedom robot delicate (as Fig. 4) is a source.Virtual Dextrous Hand is made up of palm rest and three fingers, and each finger has three dactylus.This operating platform provides various extracting objects, and their size and pose.
In order to make the operator understand the pose of virtual Dextrous Hand in operating process more effectively intuitively, information such as collision, the operator can by mouse and keyboard to whole dummy activity scene be rotated, the Pan and Zoom operation, the angle of nine joints rotations of virtual Dextrous Hand simultaneously can be presented in the dummy activity scene in real time.
2. the design of operation interface
Operation interface is the Man Machine Interface of operating personnel and whole remote-controlled operation platform, and in order to contain more operation item, the whole operation interface is divided into secondary; Consider the intuitive at interface on the other hand, each the joint state of Dextrous Hand that operating personnel are concerned about most and the state of finger tip force feedback are presented on the operation interface always.
Control panel adopts the form of Windows standard dialog box, as shown in Figure 5.Above control panel, arranged nine joint states of virtual Dextrous Hand and force feedback state edit box, added that on next door, nine joints the tip button is so that can regulate each joint angles independently up and down.
Designed at the middle part of control panel and the interface to be set being grabbed object, there are selected respectively 3 the different quilts of three check boxes to grab object (cube, ball, cylinder) in this section in the interface, have-individual size pose button, pressing this button can eject another interface and be used for to being grabbed the setting of object, as Fig. 6.
Check box and one group of button below control panel, have been designed-have organized.This group check box is mainly used in the selection of control mode and the interpolation of control function, as tutorial function and on-line mode.One group of button mainly be under manual mode to the operation of Dextrous Hand, they have parallel extracting, grasp in poly-, the tweezer formula grasps and pre-grasp or the like.
3. the design of operating function
The design of operating function mainly launches round content of the present invention, be that this operating platform can not only carry out the emulation that Dextrous Hand intelligence grasps object under off-line state, and can be under on line state to the control operation of actual Dextrous Hand, and the robot delicate after the teaching is finished automatic grasping manipulation.
Dextrous Hand must be according to shape, size, pose, conversion Grasp Modes constantly and the path of crawled object when grasping object.Grab the experience of object according to staff, and the BH-3 Dextrous Hand grabs a large amount of experiments of object, therefrom summarized three kinds of basic Grasp Modes, promptly parallel extracting, grasp in poly-and the tweezer formula grasps.Shown in Fig. 7 a～c.
The simulated drill function of Dextrous Hand intelligence extracting process is to adopt the intelligent control algorithm of fuzzy logic to realize.Program is selected corresponding path and Grasp Modes according to shape, size, the attitude of object, finishes the extracting to object.The design of this function for operating personnel provide path and the scheme that grasps object, has been given prominence to virtual reality technology and is provided flexibility, pre-operation and illustrative for the operation of whole system, can also provide experiment porch for various intelligent control algorithms.
It is exactly under online state that function is grasped in teaching, and operating personnel select corresponding path and Grasp Modes according to shape, size, the attitude of target object, finish the extracting to object.Program is write each step of operating personnel's operation down in order in operating personnel's operating process.Then Dextrous Hand is got back to the origin-location, press teaching and reproduce button, program is automatically finished the task of grasping object.
4. Dextrous Hand grasps the force feedback of object and the detection of virtual hand collision object
How do operating personnel judge that Dextrous Hand catches target object in virtual reality robot delicate remote-controlled operation platform? main by two approach, the first is pointed out by the collision detection of virtual hand in the virtual environment and dummy object.It two is to obtain the Dextrous Hand grasping force by the three-dimensional force sensor that is installed in the Dextrous Hand finger tip.
Collision detection in the virtual environment not only can have good effect, and provide good caution when system's on-line operation when Dextrous Hand grasps the preview of object.
Claims (2)
1. one kind based on Virtual Realization robot delicate remote-controlled operation platform, is made up of man-machine interface system and distant robot delicate system, it is characterized in that:
(1) man-machine interface system is the virtual operation platform that is made of a computer (1); Form operating personnel's operation interface;
(2) distant dexterous robot hand system is in the dummy activity scene, and a robot delicate (4) connects a Dextrous Hand controller (5) and controlled by it, and Dextrous Hand controller (5) connects a upper control computer (2); There is a CCD camera (6) to aim at robot delicate (4) picked-up Dextrous Hand position and attitude; Described upper control computer (2) and CCD camera (6) all are connected the computer (1) of described virtual operation platform by cable;
(3) demonstrate the state of each joint state of Dextrous Hand and finger tip force feedback on the described operation interface all the time; Control panel adopts the form of Windows standard dialog box: arrange nine joint states of virtual Dextrous Hand and force feedback state edit box above control panel, added that on next door, nine joints the tip button is so that can regulate each joint angles independently up and down; Designed at the middle part of control panel and the interface to be set being grabbed object, there are selected respectively cube of three check boxes or ball or three different quilts of cylinder to grab object in this section in the interface, a size pose button is arranged, press this button and can eject another interface and be used for the position of being grabbed object and the setting of size; One group of check box of design and one group of button below control panel, this group check box is used for the selection of control mode and the interpolation of control function; This group button be under manual mode to the operation of Dextrous Hand, its operation has parallel extracting, grasps in poly-, the tweezer formula grasps and pre-the extracting.
2. according to claim 1 based on virtual reality robot delicate remote-controlled operation platform, in the dummy activity scene, the object (7) and the workbench of placing (8), robot delicate (4) and object (7) the pose size mark (9) in addition that have robot delicate to grasp; Described robot delicate adopts BH-3 type three to refer to the nine-degree of freedom robot delicate.
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