CN102495638A - Multiple degree of freedom robot dinosaur capable of being accurately recognized and controlled and achieving method thereof - Google Patents
Multiple degree of freedom robot dinosaur capable of being accurately recognized and controlled and achieving method thereof Download PDFInfo
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- CN102495638A CN102495638A CN2011103912689A CN201110391268A CN102495638A CN 102495638 A CN102495638 A CN 102495638A CN 2011103912689 A CN2011103912689 A CN 2011103912689A CN 201110391268 A CN201110391268 A CN 201110391268A CN 102495638 A CN102495638 A CN 102495638A
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Abstract
The invention discloses a multiple degree of freedom robot dinosaur capable of being accurately recognized and controlled, which comprises a robot dinosaur body, a servo motor, a servo motor control circuit and a controller. The servo motor is arranged on a movable joint of the robot dinosaur body, and the controller is arranged on the head portion of the robot dinosaur body and connected with the servo motor control circuit which is connected with the servo motor. The controller further comprises a camera and an image recognition processing device, and the image recognition processing device is respectively connected with the camera and the motor control circuit. The large robot dinosaur based on image recognition and multiple degree of freedom robot technology is capable of walking and turning freely and automatically tracking and recognizing moving bodies in the visual field, has strong interactivity and improves robot experience feeling.
Description
Technical field
The present invention relates to Robot Control Technology, especially based on multi freedom degree mechanical dinosaur and its implementation of a kind of precise identification control of image recognition.
Background technology
The existing mechanical dinosaur is adopted Wiper motor control more, can use the moving object in the sensor sensing certain limit, and the driving Wiper motor carries out reciprocating action.But the action of this kind dinosaur is single, and can only be fixed on ad-hoc location, thereby has extremely weakened sense of experience of users.
Summary of the invention
The invention provides a kind of can walking freely, turn, also multi freedom degree mechanical dinosaur and its implementation of the precise identification control of the movement human in the Tracking Recognition visual field automatically.
Technical scheme of the present invention is: a kind of multi freedom degree mechanical dinosaur of precise identification control; Comprise mechanical dinosaur trunk, servomotor, servomotor control circuit and controller; Described servomotor is arranged in the turning joint of mechanical dinosaur trunk; Described controller is arranged on the head of mechanical dinosaur trunk and is connected with the servomotor control circuit, and described servomotor control circuit is connected with servomotor; Described controller also comprises camera and image recognizing and processing equipment, and described image recognizing and processing equipment is connected with circuit for controlling motor with camera respectively.
The above-mentioned described servomotor control circuit of a kind of multi freedom degree mechanical dinosaur is the programmable servo circuit for controlling motor.
The above-mentioned described camera of a kind of multi freedom degree mechanical dinosaur is miniature high-definition digital camera.
Above-mentioned a kind of multi freedom degree mechanical dinosaur; Also be provided with video converter in the described controller; Described video converter is arranged between camera and the image recognizing and processing equipment, and described video converter is used for converting analog video signal to digital video signal.
Above-mentioned a kind of multi freedom degree mechanical dinosaur; Described image recognizing and processing equipment is placed on a side of mechanical dinosaur trunk belly; The servomotor control circuit is placed on the opposite side of belly, and the servomotor distributed and arranged is at mouth upper jaw lower jaw, neck, four limbs and the tail position of mechanical dinosaur trunk.
Above-mentioned a kind of multi freedom degree mechanical dinosaur is characterized in that: the decoding control chip of described servomotor control circuit is the STC10F8 chip.
Another object of the present invention has provided the implementation method of a kind of multi freedom degree mechanical dinosaur of precise identification control, comprises following steps:
Step a, the video information that image recognizing and processing equipment is taken camera calculates the locus of moving object after image recognition algorithm is handled;
Step b; Spatial positional information transfers to the decoding chip in the servomotor control circuit after encoder encodes; Decoding chip resolves to the control signal of each servomotor with external command, and servomotor produces action according to control signal, further drives mechanical dinosaur and makes action.
The implementation method of the multi freedom degree mechanical dinosaur of aforesaid a kind of precise identification control also converted analog video signal to digital video signal through video converter before step a.
More specifically, the image recognition algorithm described in the step a be meant original image at first through 1/4 the compression after, this compressed image again with last frame compressed image; Carry out subtraction between the corresponding pixel points; Obtain a subtraction figure then, more finally obtain artwork master based on each pixel of this figure and binary-state threshold, wherein white point is represented the motor point; Statistics white point sum is if can think that less than threshold value environmental disturbances need not output; If just calculate the mean value of all white point coordinates greater than threshold value, and export.
The invention has the beneficial effects as follows: this kind based on the big machinery dinosaur of the precise identification control of image recognition and multi-freedom robot technology can walking freely, turning, the also movement human in the Tracking Recognition visual field automatically; Have extremely strong interactively, improved mechanical experience sense.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the workflow diagram of pattern recognition device of the present invention;
Fig. 3 is a control procedure synoptic diagram of the present invention;
Fig. 4 is the synoptic diagram of instantiation of the present invention;
Fig. 5 is the calculation flow chart of image recognition algorithm.
Accompanying drawing acceptance of the bid is kept the score and is stated as follows: 1, controller, 2, camera, 3, image recognizing and processing equipment, 3, the servomotor control circuit, 4, servomotor.
Embodiment
Combine accompanying drawing that the present invention is done further detailed explanation now.These accompanying drawings are the synoptic diagram of simplification, basic structure of the present invention only is described in a schematic way, so it only show the formation relevant with the present invention.
The multi freedom degree mechanical dinosaur of a kind of precise identification control as shown in Figure 1; Comprise mechanical dinosaur trunk, servomotor 4, servomotor control circuit 3 and controller 1; Described servomotor 4 is arranged in the turning joint of mechanical dinosaur trunk; Described controller 1 is arranged on the head of mechanical dinosaur trunk and is connected with servomotor control circuit 3, and described servomotor control circuit 3 is connected with servomotor 4; Described controller 1 also comprises camera 2 and image recognizing and processing equipment 3, and described image recognizing and processing equipment 3 is connected with servomotor control circuit 3 with camera 1 respectively.
As shown in Figure 2, camera 2 is gathered video analog signals, converts digital signal into via converter, passes to image recognizing and processing equipment 3 again and calls the image recognition algorithm that carries and detect movement human.Convert digital signal into simulating signal via converter again during output image.Wherein positional information passes to scrambler, and scrambler becomes instruction to pass to external circuit the three-dimensional space position information translation.
As shown in Figure 3; The steering order of outside input passes to the decoding chip STC10F8 of control circuit via external serial ports; Steering order after decoding chip STC10F8 will resolve converts the voltage signal of control servomotor 4 to, and this voltage signal carries out Collaboration with the servomotor 4 that driving is distributed in mechanical each key position of dinosaur trunk.
As shown in Figure 4, the visitor can do arbitrary motion within sweep of the eye mechanical dinosaur, triggers the image recognizing and processing equipment 3 of mechanical dinosaur, controls each servomotor 4 runnings indirectly, reaches the effect interactive with mechanical dinosaur.
Image recognition algorithm as shown in Figure 5, original image at first through 1/4 compression, are convenient to fast processing.This compressed image again with last frame compressed image, carry out subtraction between the corresponding pixel points.Aforesaid operations obtains a subtraction figure, compares based on this each pixel of figure and binary-state threshold, finally obtains artwork master, and wherein white point is represented the motor point.Statistics white point sum if can think environmental disturbances less than threshold value, need not output; If greater than threshold value, just calculate the mean value of all white point coordinates, and output.
The implementation method of the multi freedom degree mechanical dinosaur of this kind precise identification control is: step a, and the video information that image recognizing and processing equipment is taken camera calculates the locus of moving object after image recognition algorithm is handled; Step b; Spatial positional information transfers to the decoding chip in the servomotor control circuit after encoder encodes; Decoding chip resolves to the control signal of each servomotor with external command, and servomotor produces action according to control signal, further drives mechanical dinosaur and makes action.
Should be noted that at last: above embodiment is only in order to technical scheme of the present invention to be described but not to its restriction; Although the present invention has been carried out detailed explanation with reference to the foregoing description; Under the those of ordinary skill in field should be appreciated that still and can specific embodiments of the invention to make amendment or be equal to replacement, can simply replace chip used; Perhaps replace used motor; Perhaps use similar image recognition algorithm, and do not break away from any modification of spirit and scope of the invention or be equal to replacement, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (9)
1. the multi freedom degree mechanical dinosaur of a precise identification control; Comprise mechanical dinosaur trunk, servomotor, servomotor control circuit and controller; It is characterized in that: described servomotor is arranged in the turning joint of mechanical dinosaur trunk; Described controller is arranged on the head of mechanical dinosaur trunk and is connected with the servomotor control circuit, and described servomotor control circuit is connected with servomotor; Described controller also comprises camera and image recognizing and processing equipment, and described image recognizing and processing equipment is connected with circuit for controlling motor with camera respectively.
2. a kind of multi freedom degree mechanical dinosaur according to claim 1 is characterized in that: described servomotor control circuit is the programmable servo circuit for controlling motor.
3. a kind of multi freedom degree mechanical dinosaur according to claim 1 and 2 is characterized in that: described camera is miniature high-definition digital camera.
4. a kind of multi freedom degree mechanical dinosaur according to claim 1; It is characterized in that: also be provided with video converter in the described controller; Described video converter is arranged between camera and the image recognizing and processing equipment, and described video converter is used for converting analog video signal to digital video signal.
5. a kind of multi freedom degree mechanical dinosaur according to claim 1; It is characterized in that: described image recognizing and processing equipment is placed on a side of mechanical dinosaur trunk belly; The servomotor control circuit is placed on the opposite side of belly, and the servomotor distributed and arranged is at the mouth upper jaw, lower jaw, neck, four limbs and the tail position of mechanical dinosaur trunk.
6. according to claim 1,2,4 or 5 each described a kind of multi freedom degree mechanical dinosaurs, it is characterized in that: the decoding control chip of described servomotor control circuit is the STC10F8 chip.
7. the implementation method of the multi freedom degree mechanical dinosaur of a precise identification control is characterized in that comprising following steps:
Step a, the video information that image recognizing and processing equipment is taken camera calculates the locus of moving object after image recognition algorithm is handled;
Step b; Spatial positional information transfers to the decoding chip in the servomotor control circuit after encoder encodes; Decoding chip resolves to the control signal of each servomotor with external command, and servomotor produces action according to control signal, further drives mechanical dinosaur and makes action.
8. the implementation method of the multi freedom degree mechanical dinosaur of a kind of precise identification control according to claim 7 is characterized in that: also convert analog video signal to digital video signal through video converter before the step a.
9. the implementation method of the multi freedom degree mechanical dinosaur of a kind of precise identification control according to claim 7; It is characterized in that: the image recognition algorithm described in the step a is meant that original image is at first through after 1/4 compression; This compressed image again with last frame compressed image, carry out subtraction between the corresponding pixel points, obtain a subtraction figure then; More finally obtain artwork master based on each pixel of this figure and binary-state threshold; Wherein white point is represented the motor point, and statistics white point sum is if can think that less than threshold value environmental disturbances need not output; If just calculate the mean value of all white point coordinates greater than threshold value, and export.
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| CN2011103912689A CN102495638A (en) | 2011-12-01 | 2011-12-01 | Multiple degree of freedom robot dinosaur capable of being accurately recognized and controlled and achieving method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102514011A (en) * | 2011-12-28 | 2012-06-27 | 王鹏勃 | Multi-degree-of-freedom robot controlled by accurate organism sensing and achieving method thereof |
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| US5624398A (en) * | 1996-02-08 | 1997-04-29 | Symbiosis Corporation | Endoscopic robotic surgical tools and methods |
| CN1417006A (en) * | 2001-11-09 | 2003-05-14 | 中国科学院自动化研究所 | Vision controlling platform for opened industrial robot |
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Application publication date: 20120613 Assignee: CHANGZHOU JINGANG NETWORK TECHNOLOGY CO., LTD. Assignor: Wang Pengbo Contract record no.: 2013320000211 Denomination of invention: Multiple degree of freedom robot dinosaur capable of being accurately recognized and controlled and achieving method thereof License type: Exclusive License Record date: 20130322 |
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Change date: 20140304 Contract record no.: 2013320000211 The licensee after: CHANGZHOU JINGANG CULTURE TECHNOLOGY CO., LTD. The licensee before: CHANGZHOU JINGANG NETWORK TECHNOLOGY CO., LTD. |
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Application publication date: 20120613 |