WO2020133628A1 - Humanoid robotic arm somatosensory control system and related product - Google Patents

Humanoid robotic arm somatosensory control system and related product Download PDF

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Publication number
WO2020133628A1
WO2020133628A1 PCT/CN2019/073596 CN2019073596W WO2020133628A1 WO 2020133628 A1 WO2020133628 A1 WO 2020133628A1 CN 2019073596 W CN2019073596 W CN 2019073596W WO 2020133628 A1 WO2020133628 A1 WO 2020133628A1
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Prior art keywords
arm
coordinate system
projection
motion parameters
rotation
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PCT/CN2019/073596
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French (fr)
Chinese (zh)
Inventor
梁修杰
叶佩森
张庆鑫
招俊健
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深圳市工匠社科技有限公司
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Priority claimed from CN201811646639.1A external-priority patent/CN109591016A/en
Application filed by 深圳市工匠社科技有限公司 filed Critical 深圳市工匠社科技有限公司
Publication of WO2020133628A1 publication Critical patent/WO2020133628A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • This application relates to the field of machine control technology, and in particular to a human-body robot arm somatosensory control system and related products.
  • Somatosensory control is a hotspot in the field of human-computer interaction, and somatosensory control of the robotic arm is an emerging direction in current robotics research. Compared with the traditional control method of the robot arm, somatosensory control has many advantages: intuitive, convenient and easy to use.
  • the control method based on somatosensory equipment adopts Kinect, depth camera and other equipment to collect bone information.
  • Kinect Kinect
  • depth camera and other equipment to collect bone information.
  • Such equipment requires the cooperation of large computing power, such as computers, mobile phones and other equipment.
  • the production cost is large and the mass production can be reduced.
  • Embodiments of the present application provide a humanoid robot arm somatosensory control system and related products, which can reduce the delay when controlling the robot arm.
  • a first aspect of an embodiment of the present application provides a humanoid robot arm somatosensory control system, the system includes: a somatosensory detection unit, an arithmetic unit, a robotic arm, and a control unit, an output end of the somatosensory detection unit and the arithmetic The input end of the unit is connected, the arithmetic unit and the control unit are connected through a wireless communication module, and the output end of the control unit is connected to the input end of the mechanical arm, wherein,
  • the somatosensory detection unit is used to obtain the motion parameters of the target user
  • the arithmetic unit is configured to calculate the motion parameters of the robot arm according to the motion parameters of the target user by using a preset algorithm, and send the motion parameters of the robot arm to the control unit;
  • the control unit is configured to receive a motion parameter of the robot arm sent by the arithmetic unit, and control the motion of the robot arm according to the motion parameter of the robot arm.
  • the target user's motion parameter includes at least one of the following: spine rotation quaternion QA, upper arm rotation quaternion QB And the lower arm rotates quaternion QC.
  • the motion parameters of the robot arm include the motion parameters of the upper arm and the lower
  • the arithmetic unit is specifically used to:
  • the first coordinate system of the upper arm projection plane is determined, and the coordinate axis of the first coordinate system is expressed by the following formula:
  • Is the x-axis unit vector Is the unit vector on the y-axis, Is the x axis of the first coordinate system, Is the y-axis of the first coordinate system, for The inverse vector of, for Inverse vector, Q a is the spinal rotation quaternion QA;
  • a second coordinate system of the upper arm projection plane is determined, and the coordinate axis of the first coordinate system is expressed by the following formula:
  • the direction vector VU of the upper arm is determined according to the rotation quaternion of the upper arm, and the direction vector VU of the upper arm is expressed by the following formula:
  • V u is the direction vector VU of the upper arm
  • the direction vector VD of the lower arm is determined, and the direction vector VD of the lower arm is expressed by the following formula;
  • V d is the direction vector VD of the lower arm
  • the motion parameters of the robot arm are determined.
  • the arithmetic unit in acquiring the direction vector VU of the upper arm in the first coordinate system With respect to the projection B1 in the X-axis direction, the arithmetic unit is specifically used to:
  • the projection B1 is determined by a first preset projection calculation formula, and the first preset projection calculation formula is:
  • arccos () is the inverse cosine function.
  • the arithmetic unit in acquiring the direction vector VU of the upper arm in the first coordinate system With respect to the projection B2 in the Y-axis direction, the arithmetic unit is specifically used to:
  • the projection B2 is determined by a second preset projection calculation formula, and the second preset projection calculation formula is:
  • arccos() is the inverse cosine function
  • the arithmetic unit in acquiring the direction vector VD of the lower arm at the second coordinate
  • the arithmetic unit in acquiring the direction vector VD of the lower arm at the second coordinate
  • the projection B3 is determined by a third preset projection calculation formula, and the third preset projection calculation formula is:
  • arccos () is the inverse cosine function.
  • the arithmetic unit in acquiring the direction vector VD of the lower arm at the second coordinate With respect to the projection B4 in the Y-axis direction of the system, the arithmetic unit is specifically used to:
  • the projection B4 is determined by a fourth preset projection calculation formula, and the fourth preset projection calculation formula is:
  • arccos() is the inverse cosine function
  • the motion parameter of the robot arm Including the first rotation parameter EA of the upper arm, the second rotation parameter EB of the upper arm, the third rotation parameter EC of the lower arm, and the fourth rotation parameter ED of the lower arm, according to the B1, B2, B3, B4 and the motion
  • the motion parameters of the device determine the motion parameters of the mechanical arm, and the arithmetic unit is specifically used to:
  • the first rotation parameter can be obtained by the following formula:
  • the second rotation parameter can be obtained by the following formula:
  • the third rotation parameter can be obtained by the following formula:
  • the fourth rotation parameter can be obtained by the following formula:
  • Range is the motion parameter of the motion device.
  • a second aspect of the embodiments of the present application provides a humanoid robotic arm.
  • the humanoid robotic arm includes a processor, a power supply circuit, and a humanoid robot arm somatosensory control system as described in any aspect above.
  • a third aspect of the embodiments of the present application provides a robot.
  • the terminal includes a housing and the humanoid mechanical arm described in the second aspect.
  • the somatosensory detection unit acquires the motion parameters of the target user, and the operation unit calculates the motion parameters of the robot arm using a preset algorithm according to the motion parameters of the target user, and converts the motion of the robot arm
  • the parameters are sent to the control unit.
  • the control unit receives the motion parameters of the robot arm sent by the operation unit, and controls the motion of the robot arm according to the motion parameters of the robot arm.
  • a lightweight calculation method is used to calculate the motion parameters of the manipulator, so as to control the manipulator, reduce the calculation time, and reduce the delay of the manipulator control to a certain extent.
  • FIG. 1 is a schematic diagram of a somatosensory control system for a humanoid robotic arm according to an embodiment of the present application
  • FIG. 2 is a schematic diagram of an abstract node of a target user provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a coordinate system provided by an embodiment of this application.
  • FIG. 4 is a schematic diagram of a rotation direction provided by an embodiment of the present application.
  • FIG. 5 is a schematic flowchart of a method for controlling a robot arm according to an embodiment of the present application.
  • FIG. 1 is a schematic diagram of a somatosensory control system for a humanoid robot arm according to an embodiment of the present application.
  • the system includes a somatosensory detection unit 101, an arithmetic unit 102, a robot arm 104, and a control unit 103.
  • the output of the somatosensory detection unit 101 is connected to the input of the arithmetic unit 102.
  • the unit 102 is connected to the control unit 103 through a wireless communication module, and the output end of the control unit 103 is connected to the input end of the robot arm 104, wherein,
  • the somatosensory detection unit 101 is used to acquire the motion parameters of the target user;
  • the computing unit 102 is configured to calculate the motion parameters of the robot arm according to the motion parameters of the target user using a preset algorithm, and send the motion parameters of the robot arm to the control unit 103;
  • the control unit 103 is configured to receive the motion parameters of the robot arm 104 sent by the arithmetic unit, and control the motion of the robot arm 104 according to the motion parameters of the robot arm 104.
  • the somatosensory detection unit 101 may be a 9-axis somatosensory acquisition device, which is used to acquire at least one of the following: spine rotation quaternion QA, upper arm rotation quaternion QB, and lower arm rotation quaternion QC , That is, the target user's movement parameters, which are hand movement parameters.
  • FIG. 2 is a schematic diagram of an abstract node of a target user.
  • the abstract node includes a spine node, an upper arm node and a lower arm node, and the motion parameters of the target user can be expressed by the motion parameters of the above three nodes.
  • the motion parameters of the robotic arm include the motion parameters of the upper arm and the motion parameters of the lower arm.
  • the resource-restricted device can be understood as a device that runs with less resources, and an arithmetic unit 102 can be obtained by executing the following method, which includes steps A1-A10, as follows:
  • the spine rotation quaternion QA determine the first coordinate system of the upper arm projection plane.
  • the coordinate axis of the first coordinate system is expressed by the following formula:
  • Is the x-axis unit vector Is the unit vector on the y-axis
  • Is the x axis of the first coordinate system Is the y-axis of the first coordinate system
  • Q a The inverse vector of, for , Q a is the quaternion QA of spinal rotation.
  • the vertebral column of the target user when standing upright is abstracted as a straight line, the straight line is located in the plane where the first coordinate system is located, and the surface where the human body is located is abstracted as a plane, then the first coordinate The plane of the system coincides with the plane of the human body.
  • a second coordinate system of the upper arm projection plane is determined, and the coordinate axis of the first coordinate system is expressed by the following formula:
  • Is the x axis of the second coordinate system Is the y-axis of the second coordinate system
  • Q b is the quaternion QB of the upper arm rotation.
  • the second coordinate system may be understood as the same plane as the plane on which the user's palm of the plane target of the second coordinate system is located. And the plane changes with the movement of the target user's hand.
  • the direction vector VU of the upper arm can be expressed by the following formula:
  • V u is the direction vector VU of the upper arm
  • the direction vector VU of the upper arm is shown in FIG. 3.
  • the direction vector VD of the lower arm is expressed by the following formula:
  • V d is the direction vector VD of the lower arm
  • the direction vector VD of the upper arm is shown in FIG. 3.
  • the projection B1 may be determined by a first preset projection calculation formula, and the first preset projection calculation formula is:
  • arccos () is the inverse cosine function.
  • the projection B2 may be determined by a second preset projection calculation formula, and the second preset projection calculation formula is:
  • arccos() is the inverse cosine function
  • the projection B3 may be determined by a third preset projection calculation formula, and the third preset projection calculation formula is:
  • arccos () is the inverse cosine function.
  • the projection B4 may be determined by a fourth preset projection calculation formula, and the fourth preset projection calculation formula is:
  • arccos() is the inverse cosine function
  • the motion parameter of the motion device in the robotic arm may be the rotation range of the rotary device in the robotic arm.
  • the range of motion of a servo in a robotic arm may be the range of motion of a servo in a robotic arm.
  • A10. Determine the motion parameters of the robotic arm according to the motion parameters of the B1, B2, B3, B4 and the motion device.
  • the motion parameters of the robot arm include a first rotation parameter EA of the upper arm, a second rotation parameter EB of the upper arm, a third rotation parameter EC of the lower arm, and a fourth rotation parameter ED of the lower arm,
  • the first rotation parameter can be obtained by the following formula:
  • the second rotation parameter can be obtained by the following formula:
  • the third rotation parameter can be obtained by the following formula:
  • the fourth rotation parameter can be obtained by the following formula:
  • Range is the motion parameter of the motion device.
  • FIG. 4 is a schematic diagram of a rotation direction.
  • the left-right rotation of the upper arm can be understood as the front-to-left rotation of the robot arm
  • the front-rear rotation of the upper arm can be understood as the front-to-back rotation of the robot arm
  • the left-right swing of the lower arm can be understood as the left-right swing of the robot arm.
  • the back and forth swing of the arm can be understood as the front and back swing of the robot arm.
  • FIG. 5 is a schematic flowchart of a method for controlling a robot arm according to an embodiment of the present application.
  • the control method includes steps 501-504, as follows:
  • the somatosensory detection unit acquires the motion parameters of the target user
  • the computing unit calculates the motion parameters of the robot arm according to the motion parameters of the target user by using a preset algorithm, and sends the motion parameters of the robot arm to the control unit;
  • a control unit configured to receive a motion parameter of the robot arm sent by the arithmetic unit, generate a target control instruction according to the motion parameter of the robot arm, and send the target control instruction to the robot arm;
  • the robotic arm receives the target control instruction and performs motion according to the control instruction.
  • the somatosensory detection unit acquires the motion parameters of the target user, and the operation unit calculates the motion parameters of the robot arm using a preset algorithm according to the motion parameters of the target user, and converts the motion of the robot arm
  • the parameters are sent to the control unit.
  • the control unit receives the motion parameters of the robot arm sent by the operation unit, and controls the motion of the robot arm according to the motion parameters of the robot arm.
  • a lightweight calculation method is used to calculate the motion parameters of the manipulator, so as to control the manipulator, reduce the calculation time, and reduce the delay of the manipulator control to a certain extent.
  • a humanoid mechanical arm includes a processor, a power circuit, and the above-mentioned humanoid robot arm somatosensory control system.
  • a robot the terminal includes a housing and the above-mentioned humanoid mechanical arm.
  • the disclosed device may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or may Integration into another system, or some features can be ignored, or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or software function unit.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable memory.
  • the technical solution of the present application may essentially be a part that contributes to the prior art or all or part of the technical solution may be embodied in the form of a software product, and the computer software product is stored in a memory,
  • Several instructions are included to enable a computer device (which may be a personal computer, server, network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application.
  • the aforementioned memory includes: U disk, read-only memory (Read-Only Memory, ROM, Read-Only Memory), random access memory (Random Access Memory, RAM), mobile hard disk, magnetic disk or optical disk, etc. can be stored Program code medium.
  • the program may be stored in a computer-readable memory, and the memory may include: a flash disk , Read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.

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Abstract

A humanoid robotic arm somatosensory control system, the system comprising: a somatosensory detection unit (101), an operation unit (102), a robotic arm (104) and a control unit (103). An output terminal of the somatosensory detection unit (101) is connected to an input terminal of the operation unit (102), the operation unit (102) and the control unit (103) are connected by means of a wireless communication module, and an output terminal of the control unit (103) is connected to an input terminal of the robotic arm (104), wherein the somatosensory detection unit (101) is used to obtain movement parameters of a target user; the operation unit (102) is used to calculate movement parameters of the robotic arm (104) by using a preset algorithm according to the movement parameters of the target user, and send the movement parameters of the robotic arm (104) to the control unit (103); and the control unit (103) is used to receive the movement parameters of the robotic arm (104) sent by the operation unit (102), and control the movement of the robotic arm (104) according to the movement parameters of the robotic arm (104). The described system reduces the duration when computing, and reduces to a certain extent the time delay when controlling the robotic arm. Also disclosed are a humanoid robotic arm and a robot.

Description

仿人机械手臂体感控制系统及相关产品Humanoid robot arm somatosensory control system and related products 技术领域Technical field
本申请涉及机器控制技术领域，具体涉及一种仿人机械手臂体感控制系及相关产品。This application relates to the field of machine control technology, and in particular to a human-body robot arm somatosensory control system and related products.
背景技术Background technique
体感控制是人机交互领域的热点方向，而机械臂的体感控制是当前机器人学研究中的一个新兴方向。与机械臂的传统控制方式相比，体感控制具有许多优点：直观性，便捷性和易用性。Somatosensory control is a hotspot in the field of human-computer interaction, and somatosensory control of the robotic arm is an emerging direction in current robotics research. Compared with the traditional control method of the robot arm, somatosensory control has many advantages: intuitive, convenient and easy to use.
通常，基于体感设备的控制方法采用可Kinect、深度摄像头等设备来采集骨骼信息，这种设备需要大运算力的配合，例如电脑、手机等设备，生产成本大，量产可实现化低。这些方法获取人体骨骼信息后，大多通过视觉结合深度信息来推演人体关节位置，通过复杂运算和模糊性推理射到机器人关节角用于控制机器人，导致了在运算时的运算效率低，进而造成了在对机器进行控制时的时延较高。Generally, the control method based on somatosensory equipment adopts Kinect, depth camera and other equipment to collect bone information. Such equipment requires the cooperation of large computing power, such as computers, mobile phones and other equipment. The production cost is large and the mass production can be reduced. After acquiring human bone information by these methods, most of them deduce the position of human joints by combining vision and depth information, and shoot the robot joint angle through complex calculation and fuzzy reasoning to control the robot, resulting in low calculation efficiency during calculation, which in turn causes The delay in controlling the machine is high.
发明内容Summary of the invention
本申请实施例提供一种仿人机械手臂体感控制系及相关产品，能够提降低对机械臂进行控制时的时延。Embodiments of the present application provide a humanoid robot arm somatosensory control system and related products, which can reduce the delay when controlling the robot arm.
本申请实施例的第一方面提供了一种仿人机械手臂体感控制系统，所述系统包括：体感检测单元、运算单元、机械臂和控制单元，所述体感检测单元的输出端与所述运算单元的输入端相连接，所述运算单元与所述控制单元通过无线通信模块相连接，所述控制单元的输出端与所述机械臂的输入端相连接，其中，A first aspect of an embodiment of the present application provides a humanoid robot arm somatosensory control system, the system includes: a somatosensory detection unit, an arithmetic unit, a robotic arm, and a control unit, an output end of the somatosensory detection unit and the arithmetic The input end of the unit is connected, the arithmetic unit and the control unit are connected through a wireless communication module, and the output end of the control unit is connected to the input end of the mechanical arm, wherein,
所述体感检测单元，用于获取目标用户的运动参数；The somatosensory detection unit is used to obtain the motion parameters of the target user;
所述运算单元，用于根据所述目标用户的运动参数，采用预设的算法计算得到所述机械臂的运动参数，以及将所述机械臂的运动参数发送给所述控制单元；The arithmetic unit is configured to calculate the motion parameters of the robot arm according to the motion parameters of the target user by using a preset algorithm, and send the motion parameters of the robot arm to the control unit;
所述控制单元，用于接收所述运算单元发送的机械臂的运动参数，根据所述机械臂的运动参数控制所述机械臂运动。The control unit is configured to receive a motion parameter of the robot arm sent by the arithmetic unit, and control the motion of the robot arm according to the motion parameter of the robot arm.
结合本申请实施例的第一方面，在第一方面的第一种可能的实现方式中，所述目标用户的运动参数包括一下至少一种：脊柱旋转四元数QA、上臂旋转四元数QB和下臂旋转四元数QC。With reference to the first aspect of the embodiments of the present application, in a first possible implementation manner of the first aspect, the target user's motion parameter includes at least one of the following: spine rotation quaternion QA, upper arm rotation quaternion QB And the lower arm rotates quaternion QC.
结合本申请实施例的第一方面和第一方面的第一种可能的实现方式，在第一方面的第二种可能的实现方式中，所述机械臂的运动参数包括上臂的运动参数和下臂的运动参数，在根据所述目标用户的运动参数，采用预设的算法计算得到所述机械臂的运动参数方面，所述运算单元具体用于：With reference to the first aspect of the embodiments of the present application and the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the motion parameters of the robot arm include the motion parameters of the upper arm and the lower For the motion parameters of the arm, in terms of calculating the motion parameters of the mechanical arm by using a preset algorithm according to the motion parameters of the target user, the arithmetic unit is specifically used to:
根据所述脊柱旋转四元数QA，确定出上臂投影平面的第一坐标系，所述第一坐标系的坐标轴通过如下公式进行表示：According to the spinal rotation quaternion QA, the first coordinate system of the upper arm projection plane is determined, and the coordinate axis of the first coordinate system is expressed by the following formula:
Figure PCTCN2019073596-appb-000001
Figure PCTCN2019073596-appb-000001
其中，
Figure PCTCN2019073596-appb-000002
为x轴的单位向量，
Figure PCTCN2019073596-appb-000003
为y轴的单位向量，
Figure PCTCN2019073596-appb-000004
为第一坐标系的x轴，
Figure PCTCN2019073596-appb-000005
为第一坐标系的y轴，
Figure PCTCN2019073596-appb-000006
为
Figure PCTCN2019073596-appb-000007
的逆向量，
Figure PCTCN2019073596-appb-000008
为
Figure PCTCN2019073596-appb-000009
的逆向量，Q a为脊柱旋转四元数QA； among them,
Figure PCTCN2019073596-appb-000002
Is the x-axis unit vector,
Figure PCTCN2019073596-appb-000003
Is the unit vector on the y-axis,
Figure PCTCN2019073596-appb-000004
Is the x axis of the first coordinate system,
Figure PCTCN2019073596-appb-000005
Is the y-axis of the first coordinate system,
Figure PCTCN2019073596-appb-000006
for
Figure PCTCN2019073596-appb-000007
The inverse vector of,
Figure PCTCN2019073596-appb-000008
for
Figure PCTCN2019073596-appb-000009
Inverse vector, Q a is the spinal rotation quaternion QA;
根据所述上臂旋转四元数QB，确定出上臂投影平面的第二坐标系，所述第一坐标系的坐标轴通过如下公式进行表示：According to the quaternion QB of the upper arm rotation, a second coordinate system of the upper arm projection plane is determined, and the coordinate axis of the first coordinate system is expressed by the following formula:
Figure PCTCN2019073596-appb-000010
Figure PCTCN2019073596-appb-000010
其中，
Figure PCTCN2019073596-appb-000011
为第二坐标系的x轴，
Figure PCTCN2019073596-appb-000012
为第二坐标系的y轴，Q b为上臂旋转四元数QB； among them,
Figure PCTCN2019073596-appb-000011
Is the x axis of the second coordinate system,
Figure PCTCN2019073596-appb-000012
Is the y-axis of the second coordinate system, Q b is the quaternion QB of the upper arm rotation;
在所述第一坐标系中，根据所述上臂旋转四元数，确定出所述上臂的方向向量VU，所述上臂的方向向量VU通过如下公式进行表示：In the first coordinate system, the direction vector VU of the upper arm is determined according to the rotation quaternion of the upper arm, and the direction vector VU of the upper arm is expressed by the following formula:
Figure PCTCN2019073596-appb-000013
Figure PCTCN2019073596-appb-000013
其中，V u为上臂的方向向量VU； Among them, V u is the direction vector VU of the upper arm;
在所述第二坐标系中，根据所述下臂旋转四元数QC，确定出所述下臂的方向向量VD，所述下臂的方向向量VD通过如下公式进行表示；In the second coordinate system, according to the lower arm rotation quaternion QC, the direction vector VD of the lower arm is determined, and the direction vector VD of the lower arm is expressed by the following formula;
Figure PCTCN2019073596-appb-000014
Figure PCTCN2019073596-appb-000014
其中，V d为下臂的方向向量VD； Where V d is the direction vector VD of the lower arm;
获取所述上臂的方向向量VU在所述第一坐标系的X轴方向上的投影B1；Acquiring a projection B1 of the direction vector VU of the upper arm in the X-axis direction of the first coordinate system;
获取所述上臂的方向向量VU在所述第一坐标系的在Y轴方向上的投影B2；Acquiring a projection B2 of the direction vector VU of the upper arm in the Y-axis direction of the first coordinate system;
获取所述下臂的方向向量VD在所述第二坐标系的X轴方向上的投影B3；Acquiring a projection B3 of the direction vector VD of the lower arm in the X-axis direction of the second coordinate system;
获取所述下臂的方向向量VD在所述第二坐标系的在Y轴方向上的投影B4；Acquiring a projection B4 of the direction vector VD of the lower arm in the Y-axis direction of the second coordinate system;
获取所述机械臂中的运动装置的运动参数；Obtain the motion parameters of the motion device in the mechanical arm;
根据所述B1、B2、B3、B4和所述运动装置的运动参数，确定出所述机械臂的运动参数。According to the motion parameters of the B1, B2, B3, B4 and the motion device, the motion parameters of the robot arm are determined.
结合本申请实施例的第一方面的第二种可能的实现方式，在第一方面的第三种可能的实现方式中，在所述获取所述上臂的方向向量VU在所述第一坐标系的X轴方向上的投影B1方面，所述运算单元具体用于：With reference to the second possible implementation manner of the first aspect of the embodiments of the present application, in a third possible implementation manner of the first aspect, in acquiring the direction vector VU of the upper arm in the first coordinate system With respect to the projection B1 in the X-axis direction, the arithmetic unit is specifically used to:
通过第一预设的投影计算公式确定出投影B1，所述第一预设的投影计算公式为：The projection B1 is determined by a first preset projection calculation formula, and the first preset projection calculation formula is:
Figure PCTCN2019073596-appb-000015
Figure PCTCN2019073596-appb-000015
其中，arccos()为反余弦函数。Among them, arccos () is the inverse cosine function.
结合本申请实施例的第一方面的第二种可能的实现方式，在第一方面的第四种可能的实现方式中，在所述获取所述上臂的方向向量VU在所述第一坐标系的Y轴方向上的投影B2方面，所述运算单元具体用于：With reference to the second possible implementation manner of the first aspect of the embodiments of the present application, in a fourth possible implementation manner of the first aspect, in acquiring the direction vector VU of the upper arm in the first coordinate system With respect to the projection B2 in the Y-axis direction, the arithmetic unit is specifically used to:
通过第二预设的投影计算公式确定出投影B2，所述第二预设的投影计算 公式为：The projection B2 is determined by a second preset projection calculation formula, and the second preset projection calculation formula is:
Figure PCTCN2019073596-appb-000016
Figure PCTCN2019073596-appb-000016
其中，arccos()为反余弦函数，
Figure PCTCN2019073596-appb-000017
Among them, arccos() is the inverse cosine function,
Figure PCTCN2019073596-appb-000017
结合本申请实施例的第一方面的第二种可能的实现方式，在第一方面的第五种可能的实现方式中，在所述获取所述下臂的方向向量VD在所述第二坐标系的X轴方向上的投影B3方面，所述运算单元具体用于：With reference to the second possible implementation manner of the first aspect of the embodiments of the present application, in a fifth possible implementation manner of the first aspect, in acquiring the direction vector VD of the lower arm at the second coordinate In terms of projection B3 in the X-axis direction of the system, the arithmetic unit is specifically used to:
通过第三预设的投影计算公式确定出投影B3，所述第三预设的投影计算公式为：The projection B3 is determined by a third preset projection calculation formula, and the third preset projection calculation formula is:
Figure PCTCN2019073596-appb-000018
Figure PCTCN2019073596-appb-000018
其中，arccos()为反余弦函数。Among them, arccos () is the inverse cosine function.
结合本申请实施例的第一方面的第二种可能的实现方式，在第一方面的第六种可能的实现方式中，在所述获取所述下臂的方向向量VD在所述第二坐标系的Y轴方向上的投影B4方面，所述运算单元具体用于：With reference to the second possible implementation manner of the first aspect of the embodiments of the present application, in a sixth possible implementation manner of the first aspect, in acquiring the direction vector VD of the lower arm at the second coordinate With respect to the projection B4 in the Y-axis direction of the system, the arithmetic unit is specifically used to:
通过第四预设的投影计算公式确定出投影B4，所述第四预设的投影计算公式为：The projection B4 is determined by a fourth preset projection calculation formula, and the fourth preset projection calculation formula is:
Figure PCTCN2019073596-appb-000019
Figure PCTCN2019073596-appb-000019
其中，arccos()为反余弦函数，
Figure PCTCN2019073596-appb-000020
Among them, arccos() is the inverse cosine function,
Figure PCTCN2019073596-appb-000020
结合本申请实施例的第一方面的第二种可能的实现方式至第一方面的第六种可能实现方式，在第一方面的第七种可能的实现方式中，所述机械臂的运动参数包括上臂的第一旋转参数EA、上臂的第二旋转参数EB、下臂的第三旋转参数EC和下臂的第四旋转参数ED，在根据所述B1、B2、B3、B4和所述运动装置的运动参数，确定出所述机械臂的运动参数方面，所述运算单元具体用于：With reference to the second possible implementation manner of the first aspect to the sixth possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, the motion parameter of the robot arm Including the first rotation parameter EA of the upper arm, the second rotation parameter EB of the upper arm, the third rotation parameter EC of the lower arm, and the fourth rotation parameter ED of the lower arm, according to the B1, B2, B3, B4 and the motion The motion parameters of the device determine the motion parameters of the mechanical arm, and the arithmetic unit is specifically used to:
所述第一旋转参数可以通过如下公式得到：The first rotation parameter can be obtained by the following formula:
EA＝B1*Range，EA=B1*Range,
所述第二旋转参数可以通过如下公式得到：The second rotation parameter can be obtained by the following formula:
EB＝B2*Range，EB=B2*Range,
所述第三旋转参数可以通过如下公式得到：The third rotation parameter can be obtained by the following formula:
EC＝B3*Range，EC=B3*Range,
所述第四旋转参数可以通过如下公式得到：The fourth rotation parameter can be obtained by the following formula:
ED＝B4*Range，ED=B4*Range,
其中，Range为所述运动装置的运动参数。Where Range is the motion parameter of the motion device.
本申请实施例的第二方面提供了一种仿人机械手臂，所述仿人机械手臂包括处理器、电源电路和上述任一方面所述的仿人机械手臂体感控制系统。A second aspect of the embodiments of the present application provides a humanoid robotic arm. The humanoid robotic arm includes a processor, a power supply circuit, and a humanoid robot arm somatosensory control system as described in any aspect above.
本申请实施例的第三方面提供了一种机器人，所述终端包括壳体和第二方面所述的仿人机械手臂。A third aspect of the embodiments of the present application provides a robot. The terminal includes a housing and the humanoid mechanical arm described in the second aspect.
实施本申请实施例，至少具有如下有益效果：The implementation of the embodiments of the present application has at least the following beneficial effects:
通过本申请实施例，体感检测单元获取目标用户的运动参数，运算单元根据所述目标用户的运动参数，采用预设的算法计算得到所述机械臂的运动参数，以及将所述机械臂的运动参数发送给所述控制单元，控制单元接收所述运 算单元发送的机械臂的运动参数，根据所述机械臂的运动参数控制所述机械臂运动，相对于现有方案中采用复杂的运算，本申请中采用轻量级的运算方法，计算得到机械臂的运动参数，从而对机械臂进行控制，降低了运算时的时长，能够一定程度上降低对机械臂控制时的时延。Through the embodiment of the present application, the somatosensory detection unit acquires the motion parameters of the target user, and the operation unit calculates the motion parameters of the robot arm using a preset algorithm according to the motion parameters of the target user, and converts the motion of the robot arm The parameters are sent to the control unit. The control unit receives the motion parameters of the robot arm sent by the operation unit, and controls the motion of the robot arm according to the motion parameters of the robot arm. In the application, a lightweight calculation method is used to calculate the motion parameters of the manipulator, so as to control the manipulator, reduce the calculation time, and reduce the delay of the manipulator control to a certain extent.
附图说明BRIEF DESCRIPTION
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly explain the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, without paying any creative labor, other drawings can be obtained based on these drawings.
图1为本申请实施例提供了一种仿人机械手臂体感控制系统的示意图；FIG. 1 is a schematic diagram of a somatosensory control system for a humanoid robotic arm according to an embodiment of the present application;
图2为本申请实施例提供了一种目标用户的抽象节点示意图；2 is a schematic diagram of an abstract node of a target user provided by an embodiment of the present application;
图3为本申请实施例提供了一种坐标系的示意图；3 is a schematic diagram of a coordinate system provided by an embodiment of this application;
图4为本申请实施例提供了一种旋转方向示意图；4 is a schematic diagram of a rotation direction provided by an embodiment of the present application;
图5为本申请实施例提供了一种对机械臂的控制方法的流程示意图。FIG. 5 is a schematic flowchart of a method for controlling a robot arm according to an embodiment of the present application.
具体实施方式detailed description
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only It is a part of the embodiments of this application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。The terms “first” and “second” in the description and claims of the present application and the above drawings are used to distinguish different objects, not to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally also includes Other steps or units inherent to these processes, methods, products or equipment.
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性 可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。Reference herein to "embodiments" means that specific features, structures, or characteristics described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art understand explicitly and implicitly that the embodiments described herein can be combined with other embodiments.
为了更好的理解本申请实施例提供的一种仿人机械手臂体感控制系，下面首先对该系统进行简要介绍。请参阅图1，图1为本申请实施例提供了一种仿人机械手臂体感控制系统的示意图。如图1所示，该系统包括体感检测单元101、运算单元102、机械臂104和控制单元103，所述体感检测单元101的输出端与所述运算单元102的输入端相连接，所述运算单元102与所述控制单元103通过无线通信模块相连接，所述控制单元103的输出端与所述机械臂104的输入端相连接，其中，In order to better understand the somatosensory control system of the anthropomorphic robotic arm provided by the embodiments of the present application, the system is first briefly introduced below. Please refer to FIG. 1, which is a schematic diagram of a somatosensory control system for a humanoid robot arm according to an embodiment of the present application. As shown in FIG. 1, the system includes a somatosensory detection unit 101, an arithmetic unit 102, a robot arm 104, and a control unit 103. The output of the somatosensory detection unit 101 is connected to the input of the arithmetic unit 102. The unit 102 is connected to the control unit 103 through a wireless communication module, and the output end of the control unit 103 is connected to the input end of the robot arm 104, wherein,
所述体感检测单元101，用于获取目标用户的运动参数；The somatosensory detection unit 101 is used to acquire the motion parameters of the target user;
所述运算单元102，用于根据所述目标用户的运动参数，采用预设的算法计算得到所述机械臂的运动参数，以及将所述机械臂的运动参数发送给所述控制单元103；The computing unit 102 is configured to calculate the motion parameters of the robot arm according to the motion parameters of the target user using a preset algorithm, and send the motion parameters of the robot arm to the control unit 103;
所述控制单元103，用于接收所述运算单元发送的机械臂104的运动参数，根据所述机械臂104的运动参数控制所述机械臂104运动。The control unit 103 is configured to receive the motion parameters of the robot arm 104 sent by the arithmetic unit, and control the motion of the robot arm 104 according to the motion parameters of the robot arm 104.
可选的，体感检测单元101可以是9轴体感采集设备，9轴体感采集设备用于采集以下至少一种：脊柱旋转四元数QA、上臂旋转四元数QB和下臂旋转四元数QC，即为目标用户的运动参数，该运动参数为手部的运动参数。Optionally, the somatosensory detection unit 101 may be a 9-axis somatosensory acquisition device, which is used to acquire at least one of the following: spine rotation quaternion QA, upper arm rotation quaternion QB, and lower arm rotation quaternion QC , That is, the target user's movement parameters, which are hand movement parameters.
可选的，如图2所示，图2为一种目标用户的抽象节点示意图。抽象节点包括脊柱节点、上臂节点和下臂节点，目标用户的运动参数可以通过上述三个节点的运动参数进行表示。Optionally, as shown in FIG. 2, FIG. 2 is a schematic diagram of an abstract node of a target user. The abstract node includes a spine node, an upper arm node and a lower arm node, and the motion parameters of the target user can be expressed by the motion parameters of the above three nodes.
可选的，机械臂的运动参数包括上臂的运动参数和下臂的运动参数，一种可能的根据目标用户的运动参数，采用预设的算法计算得到机械臂的运动参数时，其中，预设的算法为计算开销较小的算法，预设的算法为计算开销较小的算法，例如可以运行在资源受限设备上的算法，资源受限设备可以理解为运行资源较小的设备，运算单元102可以通过执行如下方法得到，该方法包括步骤A1-A10，具体如下：Optionally, the motion parameters of the robotic arm include the motion parameters of the upper arm and the motion parameters of the lower arm. A possible algorithm for calculating the motion parameters of the robotic arm according to the motion parameters of the target user and using a preset algorithm, wherein The algorithm is an algorithm with less computational overhead, and the preset algorithm is an algorithm with less computational overhead, such as an algorithm that can be run on a resource-restricted device. The resource-restricted device can be understood as a device that runs with less resources, and an arithmetic unit 102 can be obtained by executing the following method, which includes steps A1-A10, as follows:
A1、根据所述脊柱旋转四元数QA，确定出上臂投影平面的第一坐标系，所述第一坐标系的坐标轴通过如下公式进行表示：A1. According to the spine rotation quaternion QA, determine the first coordinate system of the upper arm projection plane. The coordinate axis of the first coordinate system is expressed by the following formula:
Figure PCTCN2019073596-appb-000021
Figure PCTCN2019073596-appb-000021
其中，
Figure PCTCN2019073596-appb-000022
为x轴的单位向量，
Figure PCTCN2019073596-appb-000023
为y轴的单位向量，
Figure PCTCN2019073596-appb-000024
为第一坐标系的x轴，
Figure PCTCN2019073596-appb-000025
为第一坐标系的y轴，
Figure PCTCN2019073596-appb-000026
为
Figure PCTCN2019073596-appb-000027
的逆向量，
Figure PCTCN2019073596-appb-000028
为
Figure PCTCN2019073596-appb-000029
的逆向量，Q a为脊柱旋转四元数QA。 among them,
Figure PCTCN2019073596-appb-000022
Is the x-axis unit vector,
Figure PCTCN2019073596-appb-000023
Is the unit vector on the y-axis,
Figure PCTCN2019073596-appb-000024
Is the x axis of the first coordinate system,
Figure PCTCN2019073596-appb-000025
Is the y-axis of the first coordinate system,
Figure PCTCN2019073596-appb-000026
for
Figure PCTCN2019073596-appb-000027
The inverse vector of,
Figure PCTCN2019073596-appb-000028
for
Figure PCTCN2019073596-appb-000029
, Q a is the quaternion QA of spinal rotation.
可选的，如图3所示，将目标用户的竖直站立时的脊柱抽象为一条直线，则该直线位于第一坐标系所在平面，将人体所在的面抽象为一个平面，则第一坐标系的平面与人体所在平面重合。Optionally, as shown in FIG. 3, the vertebral column of the target user when standing upright is abstracted as a straight line, the straight line is located in the plane where the first coordinate system is located, and the surface where the human body is located is abstracted as a plane, then the first coordinate The plane of the system coincides with the plane of the human body.
A2、根据所述上臂旋转四元数QB，确定出上臂投影平面的第二坐标系，所述第一坐标系的坐标轴通过如下公式进行表示：A2. According to the quaternion QB of the upper arm rotation, a second coordinate system of the upper arm projection plane is determined, and the coordinate axis of the first coordinate system is expressed by the following formula:
Figure PCTCN2019073596-appb-000030
Figure PCTCN2019073596-appb-000030
其中，
Figure PCTCN2019073596-appb-000031
为第二坐标系的x轴，
Figure PCTCN2019073596-appb-000032
为第二坐标系的y轴，Q b为上臂旋转四元数QB其中。 among them,
Figure PCTCN2019073596-appb-000031
Is the x axis of the second coordinate system,
Figure PCTCN2019073596-appb-000032
Is the y-axis of the second coordinate system, and Q b is the quaternion QB of the upper arm rotation.
可选的，如图3所示，第二坐标系可以理解为，与第二坐标系的平面目标用户手掌所在平面相同的平面。且该平面随着目标用户手部的运动而随之变化。Optionally, as shown in FIG. 3, the second coordinate system may be understood as the same plane as the plane on which the user's palm of the plane target of the second coordinate system is located. And the plane changes with the movement of the target user's hand.
A3、在所述第一坐标系中，根据所述上臂旋转四元数，确定出所述上臂的方向向量VU；A3. In the first coordinate system, determine the direction vector VU of the upper arm according to the quaternion of the upper arm rotation;
可选的，上臂的方向向量VU可以通过如下公式进行表示：Optionally, the direction vector VU of the upper arm can be expressed by the following formula:
Figure PCTCN2019073596-appb-000033
Figure PCTCN2019073596-appb-000033
其中，V u为上臂的方向向量VU； Among them, V u is the direction vector VU of the upper arm;
可选的，上臂的方向向量VU如图3中所示。Optionally, the direction vector VU of the upper arm is shown in FIG. 3.
A4、在所述第二坐标系中，根据所述下臂旋转四元数QC，确定出所述下臂的方向向量VD；A4. In the second coordinate system, determine the direction vector VD of the lower arm according to the quaternion QC of the lower arm rotation;
可选的，所述下臂的方向向量VD通过如下公式进行表示：Optionally, the direction vector VD of the lower arm is expressed by the following formula:
Figure PCTCN2019073596-appb-000034
Figure PCTCN2019073596-appb-000034
其中，V d为下臂的方向向量VD； Where V d is the direction vector VD of the lower arm;
可选的，上臂的方向向量VD如图3中所示。Optionally, the direction vector VD of the upper arm is shown in FIG. 3.
A5、获取所述上臂的方向向量VU在所述第一坐标系的X轴方向上的投影B1；A5. Obtain a projection B1 of the direction vector VU of the upper arm in the X-axis direction of the first coordinate system;
可选的，可以通过第一预设的投影计算公式确定出投影B1，所述第一预设的投影计算公式为：Optionally, the projection B1 may be determined by a first preset projection calculation formula, and the first preset projection calculation formula is:
Figure PCTCN2019073596-appb-000035
Figure PCTCN2019073596-appb-000035
其中，arccos()为反余弦函数。Among them, arccos () is the inverse cosine function.
A6、获取所述上臂的方向向量VU在所述第一坐标系的在Y轴方向上的投影B2；A6. Obtain a projection B2 of the direction vector VU of the upper arm in the Y-axis direction of the first coordinate system;
可选的，可以通过第二预设的投影计算公式确定出投影B2，所述第二预设的投影计算公式为：Optionally, the projection B2 may be determined by a second preset projection calculation formula, and the second preset projection calculation formula is:
Figure PCTCN2019073596-appb-000036
Figure PCTCN2019073596-appb-000036
其中，arccos()为反余弦函数，
Figure PCTCN2019073596-appb-000037
Among them, arccos() is the inverse cosine function,
Figure PCTCN2019073596-appb-000037
A7、获取所述下臂的方向向量VD在所述第二坐标系的X轴方向上的投影B3；A7. Obtain a projection B3 of the direction vector VD of the lower arm in the X-axis direction of the second coordinate system;
可选的，可以通过第三预设的投影计算公式确定出投影B3，所述第三预设的投影计算公式为：Optionally, the projection B3 may be determined by a third preset projection calculation formula, and the third preset projection calculation formula is:
Figure PCTCN2019073596-appb-000038
Figure PCTCN2019073596-appb-000038
其中，arccos()为反余弦函数。Among them, arccos () is the inverse cosine function.
A8、获取所述下臂的方向向量VD在所述第二坐标系的在Y轴方向上的投影B4；A8. Obtain a projection B4 of the direction vector VD of the lower arm in the Y-axis direction of the second coordinate system;
可选的，可以通过第四预设的投影计算公式确定出投影B4，所述第四预设的投影计算公式为：Optionally, the projection B4 may be determined by a fourth preset projection calculation formula, and the fourth preset projection calculation formula is:
Figure PCTCN2019073596-appb-000039
Figure PCTCN2019073596-appb-000039
其中，arccos()为反余弦函数，
Figure PCTCN2019073596-appb-000040
Among them, arccos() is the inverse cosine function,
Figure PCTCN2019073596-appb-000040
A9、获取所述机械臂中的运动装置的运动参数；A9. Obtain the motion parameters of the motion device in the mechanical arm;
其中，机械臂中的运动装置的运动参数可以为，机械臂中的旋转装置的旋转范围。例如，机械臂中的舵机的运动范围。The motion parameter of the motion device in the robotic arm may be the rotation range of the rotary device in the robotic arm. For example, the range of motion of a servo in a robotic arm.
A10、根据所述B1、B2、B3、B4和所述运动装置的运动参数，确定出所述机械臂的运动参数。A10. Determine the motion parameters of the robotic arm according to the motion parameters of the B1, B2, B3, B4 and the motion device.
可选的，机械臂的运动参数包括上臂的第一旋转参数EA、上臂的第二旋转参数EB、下臂的第三旋转参数EC和下臂的第四旋转参数ED，Optionally, the motion parameters of the robot arm include a first rotation parameter EA of the upper arm, a second rotation parameter EB of the upper arm, a third rotation parameter EC of the lower arm, and a fourth rotation parameter ED of the lower arm,
所述第一旋转参数可以通过如下公式得到：The first rotation parameter can be obtained by the following formula:
EA＝B1*Range，EA=B1*Range,
所述第二旋转参数可以通过如下公式得到：The second rotation parameter can be obtained by the following formula:
EB＝B2*Range，EB=B2*Range,
所述第三旋转参数可以通过如下公式得到：The third rotation parameter can be obtained by the following formula:
EC＝B3*Range，EC=B3*Range,
所述第四旋转参数可以通过如下公式得到：The fourth rotation parameter can be obtained by the following formula:
ED＝B4*Range，ED=B4*Range,
其中，Range为所述运动装置的运动参数。Where Range is the motion parameter of the motion device.
如图4所示，图4为一种旋转方向示意图。图中，上臂左右旋转可以理解为机械臂的正面朝向的左右旋转，上臂前后旋转可以理解为机械臂的正面朝向的前后旋转，下臂左右摆动可以理解为机械臂的正面朝向的左右摆动，下臂的前后摆动可以理解为机械臂的正面朝向的前后摆动。As shown in FIG. 4, FIG. 4 is a schematic diagram of a rotation direction. In the figure, the left-right rotation of the upper arm can be understood as the front-to-left rotation of the robot arm, the front-rear rotation of the upper arm can be understood as the front-to-back rotation of the robot arm, and the left-right swing of the lower arm can be understood as the left-right swing of the robot arm. The back and forth swing of the arm can be understood as the front and back swing of the robot arm.
请参阅图5，图5为本申请实施例提供了一种对机械臂的控制方法的流程示意图。如图5所示，控制方法包括步骤501-504，具体如下：Please refer to FIG. 5, which is a schematic flowchart of a method for controlling a robot arm according to an embodiment of the present application. As shown in FIG. 5, the control method includes steps 501-504, as follows:
501、体感检测单元获取目标用户的运动参数；501. The somatosensory detection unit acquires the motion parameters of the target user;
502、运算单元根据所述目标用户的运动参数，采用预设的算法计算得到所述机械臂的运动参数，以及将所述机械臂的运动参数发送给所述控制单元；502. The computing unit calculates the motion parameters of the robot arm according to the motion parameters of the target user by using a preset algorithm, and sends the motion parameters of the robot arm to the control unit;
503、控制单元，用于接收所述运算单元发送的机械臂的运动参数，根据所述机械臂的运动参数生成目标控制指令，将所述目标控制指令发送到机械臂；503. A control unit, configured to receive a motion parameter of the robot arm sent by the arithmetic unit, generate a target control instruction according to the motion parameter of the robot arm, and send the target control instruction to the robot arm;
504、所述机械臂接收所述目标控制指令，并根据所述控制指令进行运动。504. The robotic arm receives the target control instruction and performs motion according to the control instruction.
通过本申请实施例，体感检测单元获取目标用户的运动参数，运算单元根据所述目标用户的运动参数，采用预设的算法计算得到所述机械臂的运动参数，以及将所述机械臂的运动参数发送给所述控制单元，控制单元接收所述运算单元发送的机械臂的运动参数，根据所述机械臂的运动参数控制所述机械臂 运动，相对于现有方案中采用复杂的运算，本申请中采用轻量级的运算方法，计算得到机械臂的运动参数，从而对机械臂进行控制，降低了运算时的时长，能够一定程度上降低对机械臂控制时的时延。Through the embodiment of the present application, the somatosensory detection unit acquires the motion parameters of the target user, and the operation unit calculates the motion parameters of the robot arm using a preset algorithm according to the motion parameters of the target user, and converts the motion of the robot arm The parameters are sent to the control unit. The control unit receives the motion parameters of the robot arm sent by the operation unit, and controls the motion of the robot arm according to the motion parameters of the robot arm. In the application, a lightweight calculation method is used to calculate the motion parameters of the manipulator, so as to control the manipulator, reduce the calculation time, and reduce the delay of the manipulator control to a certain extent.
一种仿人机械手臂，所述仿人机械手臂包括处理器、电源电路和上述的仿人机械手臂体感控制系统。A humanoid mechanical arm includes a processor, a power circuit, and the above-mentioned humanoid robot arm somatosensory control system.
一种机器人，所述终端包括壳体和上述的仿人机械手臂。A robot, the terminal includes a housing and the above-mentioned humanoid mechanical arm.
需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本申请所必须的。It should be noted that, for the sake of simple description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that this application is not limited by the sequence of actions described. Because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。In the above embodiments, the description of each embodiment has its own emphasis. For a part that is not detailed in an embodiment, you can refer to the related descriptions of other embodiments.
在本申请所提供的几个实施例中，应该理解到，所揭露的装置，可通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed device may be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or may Integration into another system, or some features can be ignored, or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical or other forms.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or software function unit.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储器中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储器中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储器包括：U盘、只读存储器(Read-Only Memory，ROM，Read-Only Memory)、随机存取存储器(Random Access Memory，RAM)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable memory. Based on such an understanding, the technical solution of the present application may essentially be a part that contributes to the prior art or all or part of the technical solution may be embodied in the form of a software product, and the computer software product is stored in a memory, Several instructions are included to enable a computer device (which may be a personal computer, server, network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (Read-Only Memory, ROM, Read-Only Memory), random access memory (Random Access Memory, RAM), mobile hard disk, magnetic disk or optical disk, etc. can be stored Program code medium.
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储器中，存储器可以包括：闪存盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁盘或光盘等。A person of ordinary skill in the art may understand that all or part of the steps in the various methods of the foregoing embodiments may be completed by instructing relevant hardware through a program. The program may be stored in a computer-readable memory, and the memory may include: a flash disk , Read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
以上对本申请实施例进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。The embodiments of the present application are described in detail above, and specific examples are used in this article to explain the principles and implementation of the present application. The descriptions of the above embodiments are only used to help understand the method and the core idea of the present application; Those of ordinary skill in the art, according to the ideas of the present application, may have changes in specific implementations and application scopes. In summary, the content of this specification should not be construed as limiting the present application.

Claims (10)

  1. 一种仿人机械手臂体感控制系统，其特征在于，所述系统包括：体感检测单元、运算单元、机械臂和控制单元，所述体感检测单元的输出端与所述运算单元的输入端相连接，所述运算单元与所述控制单元通过无线通信模块相连接，所述控制单元的输出端与所述机械臂的输入端相连接，其中，A humanoid robot arm somatosensory control system, characterized in that the system includes: a somatosensory detection unit, an arithmetic unit, a robotic arm and a control unit, an output end of the somatosensory detection unit is connected to an input end of the arithmetic unit , The arithmetic unit and the control unit are connected through a wireless communication module, and the output end of the control unit is connected to the input end of the mechanical arm, wherein,
    所述体感检测单元，用于获取目标用户的运动参数；The somatosensory detection unit is used to obtain the motion parameters of the target user;
    所述运算单元，用于根据所述目标用户的运动参数，采用预设的算法计算得到所述机械臂的运动参数，以及将所述机械臂的运动参数发送给所述控制单元；The arithmetic unit is configured to calculate the motion parameters of the robot arm according to the motion parameters of the target user by using a preset algorithm, and send the motion parameters of the robot arm to the control unit;
    所述控制单元，用于接收所述运算单元发送的机械臂的运动参数，根据所述机械臂的运动参数控制所述机械臂运动。The control unit is configured to receive a motion parameter of the robot arm sent by the arithmetic unit, and control the motion of the robot arm according to the motion parameter of the robot arm.
  2. 根据权利要求1所述的系统，其特征在于，所述目标用户的运动参数包括以下至少一种：脊柱旋转四元数QA、上臂旋转四元数QB和下臂旋转四元数QC。The system according to claim 1, wherein the target user's motion parameters include at least one of the following: spine rotation quaternion QA, upper arm rotation quaternion QB, and lower arm rotation quaternion QC.
  3. 根据权利要求1或2所述的系统，其特征在于，所述机械臂的运动参数包括上臂的运动参数和下臂的运动参数，在根据所述目标用户的运动参数，采用预设的算法计算得到所述机械臂的运动参数方面，所述运算单元具体用于：The system according to claim 1 or 2, wherein the motion parameters of the robot arm include motion parameters of the upper arm and motion parameters of the lower arm, and are calculated using a preset algorithm according to the motion parameters of the target user In terms of obtaining the motion parameters of the mechanical arm, the arithmetic unit is specifically used to:
    根据所述脊柱旋转四元数QA，确定出上臂投影平面的第一坐标系，所述第一坐标系的坐标轴通过如下公式进行表示：According to the spinal rotation quaternion QA, the first coordinate system of the upper arm projection plane is determined, and the coordinate axis of the first coordinate system is expressed by the following formula:
    Figure PCTCN2019073596-appb-100001
    Figure PCTCN2019073596-appb-100001
    其中，
    Figure PCTCN2019073596-appb-100002
    为x轴的单位向量，
    Figure PCTCN2019073596-appb-100003
    为y轴的单位向量，
    Figure PCTCN2019073596-appb-100004
    为第一坐标系的x轴，
    Figure PCTCN2019073596-appb-100005
    为第一坐标系的y轴，
    Figure PCTCN2019073596-appb-100006
    为
    Figure PCTCN2019073596-appb-100007
    的逆向量，
    Figure PCTCN2019073596-appb-100008
    为
    Figure PCTCN2019073596-appb-100009
    的逆向量，Q a为脊柱旋转四元数QA；     among them,
    Figure PCTCN2019073596-appb-100002
    Is the x-axis unit vector,
    Figure PCTCN2019073596-appb-100003
    Is the unit vector on the y-axis,
    Figure PCTCN2019073596-appb-100004
    Is the x axis of the first coordinate system,
    Figure PCTCN2019073596-appb-100005
    Is the y-axis of the first coordinate system,
    Figure PCTCN2019073596-appb-100006
    for
    Figure PCTCN2019073596-appb-100007
    The inverse vector of,
    Figure PCTCN2019073596-appb-100008
    for
    Figure PCTCN2019073596-appb-100009
    Inverse vector, Q a is the spinal rotation quaternion QA;
    根据所述上臂旋转四元数QB，确定出上臂投影平面的第二坐标系，所述第一坐标系的坐标轴通过如下公式进行表示：According to the quaternion QB of the upper arm rotation, a second coordinate system of the upper arm projection plane is determined, and the coordinate axis of the first coordinate system is expressed by the following formula:
    Figure PCTCN2019073596-appb-100010
    Figure PCTCN2019073596-appb-100010
    其中，
    Figure PCTCN2019073596-appb-100011
    为第二坐标系的x轴，
    Figure PCTCN2019073596-appb-100012
    为第二坐标系的y轴，Q b为上臂旋转四元数QB；     among them,
    Figure PCTCN2019073596-appb-100011
    Is the x axis of the second coordinate system,
    Figure PCTCN2019073596-appb-100012
    Is the y-axis of the second coordinate system, Q b is the quaternion QB of the upper arm rotation;
    在所述第一坐标系中，根据所述上臂旋转四元数，确定出所述上臂的方向向量VU，所述上臂的方向向量VU通过如下公式进行表示：In the first coordinate system, the direction vector VU of the upper arm is determined according to the rotation quaternion of the upper arm, and the direction vector VU of the upper arm is expressed by the following formula:
    Figure PCTCN2019073596-appb-100013
    Figure PCTCN2019073596-appb-100013
    其中，V u为上臂的方向向量VU； Among them, V u is the direction vector VU of the upper arm;
    在所述第二坐标系中，根据所述下臂旋转四元数QC，确定出所述下臂的方向向量VD，所述下臂的方向向量VD通过如下公式进行表示：In the second coordinate system, the direction vector VD of the lower arm is determined according to the quaternion QC of the rotation of the lower arm, and the direction vector VD of the lower arm is expressed by the following formula:
    Figure PCTCN2019073596-appb-100014
    Figure PCTCN2019073596-appb-100014
    其中，V d为下臂的方向向量VD； Where V d is the direction vector VD of the lower arm;
    获取所述上臂的方向向量VU在所述第一坐标系的X轴方向上的投影B1；Acquiring a projection B1 of the direction vector VU of the upper arm in the X-axis direction of the first coordinate system;
    获取所述上臂的方向向量VU在所述第一坐标系的在Y轴方向上的投影B2；Acquiring a projection B2 of the direction vector VU of the upper arm in the Y-axis direction of the first coordinate system;
    获取所述下臂的方向向量VD在所述第二坐标系的X轴方向上的投影B3；Acquiring a projection B3 of the direction vector VD of the lower arm in the X-axis direction of the second coordinate system;
    获取所述下臂的方向向量VD在所述第二坐标系的在Y轴方向上的投影B4；Acquiring a projection B4 of the direction vector VD of the lower arm in the Y-axis direction of the second coordinate system;
    获取所述机械臂中的运动装置的运动参数；Obtain the motion parameters of the motion device in the mechanical arm;
    根据所述B1、B2、B3、B4和所述运动装置的运动参数，确定出所述机械臂的运动参数。According to the motion parameters of the B1, B2, B3, B4 and the motion device, the motion parameters of the robot arm are determined.
  4. 根据权利要求3所述的系统，其特征在于，在所述获取所述上臂的方向向量VU在所述第一坐标系的X轴方向上的投影B1方面，所述运算单元具 体用于：The system according to claim 3, wherein in terms of the projection B1 of acquiring the direction vector VU of the upper arm in the X-axis direction of the first coordinate system, the arithmetic unit is specifically configured to:
    通过第一预设的投影计算公式确定出投影B1，所述第一预设的投影计算公式为：The projection B1 is determined by a first preset projection calculation formula, and the first preset projection calculation formula is:
    Figure PCTCN2019073596-appb-100015
    Figure PCTCN2019073596-appb-100015
    其中，arccos()为反余弦函数。Among them, arccos () is the inverse cosine function.
  5. 根据权利要求3所述的系统，其特征在于，在所述获取所述上臂的方向向量VU在所述第一坐标系的Y轴方向上的投影B2方面，所述运算单元具体用于：The system according to claim 3, wherein in terms of acquiring the projection B2 of the direction vector VU of the upper arm in the Y-axis direction of the first coordinate system, the arithmetic unit is specifically configured to:
    通过第二预设的投影计算公式确定出投影B2，所述第二预设的投影计算公式为：The projection B2 is determined by a second preset projection calculation formula, and the second preset projection calculation formula is:
    Figure PCTCN2019073596-appb-100016
    Figure PCTCN2019073596-appb-100016
    其中，arccos()为反余弦函数，
    Figure PCTCN2019073596-appb-100017
    Among them, arccos() is the inverse cosine function,
    Figure PCTCN2019073596-appb-100017
  6. 根据权利要求3所述的系统，其特征在于，在所述获取所述下臂的方向向量VD在所述第二坐标系的X轴方向上的投影B3方面，所述运算单元具体用于：The system according to claim 3, characterized in that, in terms of acquiring the projection B3 of the direction vector VD of the lower arm in the X-axis direction of the second coordinate system, the arithmetic unit is specifically configured to:
    通过第三预设的投影计算公式确定出投影B3，所述第三预设的投影计算公式为：The projection B3 is determined by a third preset projection calculation formula, and the third preset projection calculation formula is:
    Figure PCTCN2019073596-appb-100018
    Figure PCTCN2019073596-appb-100018
    其中，arccos()为反余弦函数。Among them, arccos () is the inverse cosine function.
  7. 根据权利要求3所述的系统，其特征在于，在所述获取所述下臂的方向向量VD在所述第二坐标系的Y轴方向上的投影B4方面，所述运算单元具体用于：The system according to claim 3, wherein in terms of the projection B4 of acquiring the direction vector VD of the lower arm in the Y-axis direction of the second coordinate system, the arithmetic unit is specifically configured to:
    通过第四预设的投影计算公式确定出投影B4，所述第四预设的投影计算公式为：The projection B4 is determined by a fourth preset projection calculation formula, and the fourth preset projection calculation formula is:
    Figure PCTCN2019073596-appb-100019
    Figure PCTCN2019073596-appb-100019
    其中，arccos()为反余弦函数，
    Figure PCTCN2019073596-appb-100020
    Among them, arccos() is the inverse cosine function,
    Figure PCTCN2019073596-appb-100020
  8. 根据权利要求3至7任一项所述的系统，其特征在于，所述机械臂的运动参数包括上臂的第一旋转参数EA、上臂的第二旋转参数EB、下臂的第三旋转参数EC和下臂的第四旋转参数ED，在根据所述B1、B2、B3、B4和所述运动装置的运动参数，确定出所述机械臂的运动参数方面，所述运算单元具体用于：The system according to any one of claims 3 to 7, wherein the motion parameters of the robot arm include a first rotation parameter EA of the upper arm, a second rotation parameter EB of the upper arm, and a third rotation parameter EC of the lower arm And the fourth rotation parameter ED of the lower arm, in terms of determining the motion parameters of the mechanical arm according to the motion parameters of the B1, B2, B3, B4 and the motion device, the arithmetic unit is specifically used to:
    所述第一旋转参数可以通过如下公式得到：The first rotation parameter can be obtained by the following formula:
    EA＝B1*Range，EA=B1*Range,
    所述第二旋转参数可以通过如下公式得到：The second rotation parameter can be obtained by the following formula:
    EB＝B2*Range，EB=B2*Range,
    所述第三旋转参数可以通过如下公式得到：The third rotation parameter can be obtained by the following formula:
    EC＝B3*Range，EC=B3*Range,
    所述第四旋转参数可以通过如下公式得到：The fourth rotation parameter can be obtained by the following formula:
    ED＝B4*Range，ED=B4*Range,
    其中，Range为所述运动装置的运动参数。Where Range is the motion parameter of the motion device.
  9. 一种仿人机械手臂，其特征在于，所述仿人机械手臂包括处理器、电源电路和权利要求1-8任一项所述的仿人机械手臂体感控制系统。A humanoid robotic arm, characterized in that the humanoid robotic arm includes a processor, a power circuit, and a humanoid robot arm somatosensory control system according to any one of claims 1-8.
  10. 一种机器人，其特征在于，所述机器人包括壳体和权利要求9所述的仿人机械手臂。A robot, characterized in that the robot includes a housing and the humanoid mechanical arm of claim 9.
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