CN105710856A - Remote motion sensing control robot - Google Patents
Remote motion sensing control robot Download PDFInfo
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- CN105710856A CN105710856A CN201510297821.0A CN201510297821A CN105710856A CN 105710856 A CN105710856 A CN 105710856A CN 201510297821 A CN201510297821 A CN 201510297821A CN 105710856 A CN105710856 A CN 105710856A
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Abstract
The invention discloses a remote motion sensing control robot and belongs to humanoid robots. The problem that a robot is difficult to control in the prior art is solved. The remote motion sensing control robot mainly comprises a motion sensing device, a robot body and a stereoscopic environment system. The motion sensing device is used for obtaining the limb joint angle information of an operator and transmitting the limb joint angle information to a control system of the robot. The robot body is used for executing actions. The stereoscopic environment system is used for enabling the audio and video information of the robot to be generated as a stereoscopic vision and stereoscopic sound environment.
Description
Technical field
The present invention relates to robot remote control technology, especially a kind of remotely motion sensing control robot.
Background technology
It is a kind of highly difficult control technology that robot controls, and control method is typically all and utilizes computer to carry out high-speed computation in conjunction with robot kinematics's mapping algorithm etc..First, operator determines the vector position P=[p of objectx, py, pz], then set the angle in certain several joint, substitute into transformation for mulaResolve the angle in other joints, the matrix operations carrying out up to a hundred times per second, but what the mankind were very difficult to reach by this high-speed computation ability.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of remotely motion sensing control robot, it is therefore an objective to making operator utilize the body-sensing information of self to control robot, each joint angles of robot is Tong Bu with each joint angles of operator.Operator just can avoid carrying out the situation of a large amount of mathematical operation by limb control intuitively, thus solving to control the problem that robot difficulty is big.
In order to solve the above-mentioned technical problem present invention and adopt the following technical scheme that 1, motion sensing control technology.Body-sensing technology is one the controls technology risen recent years, is widely used in the fields such as game, motion monitoring aid system, and it utilizes multi-axial sensor to collect the information such as acceleration of locality X, Y, Z axis, then passes through special algorithm to reach specific function.(extremity are respectively arranged with six axles to the joint angles information of body-sensing sensor collection operator, head has three axles, trunk three axle), motion sensing control device is transferred to robot control system by network data after collecting the joint angles information of each body-sensing sensor, makes robot joint angles keep Tong Bu with the joint angles of operator after robot control system resolve angles.So, not only greatly reduce robot and control difficulty, and operator can be made more intuitively to control joint of robot.2, steric environment technology.Utilizing steric environment technology, robotic end not only can feed back to operator to generate stereoscopic vision environment local Stereo Vision, but also the stereo information of collecting robot people's end can generate stereophone environment.
Accompanying drawing explanation
Fig. 1 is body-sensing system schematic
Fig. 2 is robot body schematic diagram
Fig. 3 is steric environment system schematic
Detailed description of the invention
The content of the long-range motion sensing control robot of the present invention it is specifically described below in conjunction with accompanying drawing embodiment.
One, operator's joint angles is collected and transmission
The each extremity of operator have three joints six-freedom degree altogether, and head has joint three degree of freedom altogether, and trunk has joint three degree of freedom altogether.As it is shown in figure 1, one group of multiaxis body-sensing sensor is placed in each joint, the information such as the acceleration of the X, Y, Z axis that body-sensing sensor collection is local.Motion sensing control device and body-sensing sensor carry out bus communication, after collecting the data of each sensor, merge space geometry algorithm and resolve the angle in each joint, then joint angle information is transferred to the controller of robotic end by network.As in figure 2 it is shown, after robot controller receives joint angles information, synchronize the joint angles of robotic arm (5).
Two, the foundation of stereoscopic vision
As in figure 2 it is shown, there are a left side (2), right (1) two photographic head in robot, the computer acquisition of robotic end also compresses the view data of left and right photographic head, is transferred to the steric environment system of operator by network.As it is shown on figure 3, after steric environment system reception camera image data, utilize computer stereo vision algorithm to resolve binocular vision information, and generated the stereoscopic vision of robotic end by left (1), right (2) display screen.
Three, the foundation of stereophone
As in figure 2 it is shown, there is a microphone array (3) in robot, the computer acquisition of robotic end also compresses the voice data of microphone array, then passes through network and is transferred to the steric environment system of operator.As it is shown on figure 3, after steric environment system reception voice data, utilize stereo algorithm to resolve stereo information, and generated the stereophone of robotic end by left (3), right (4) speaker.
Four, information and the transmission such as humiture, acceleration, compass magnetic field
In order to make more physical messages of operator's direct feel robotic end better, as shown in Figure 2, robot is gathered the information such as local humiture, acceleration, compass magnetic field and packet is transferred to steric environment system by sensor (4), and steric environment system is intuitively shown data by left and right display screen.
Claims (6)
- The invention discloses a kind of remotely motion sensing control robot, it has a kind of simple, efficient robotic control environment------motion sensing control.Operator's joint angles information, (extremity are respectively arranged with six axles to body-sensing device, head has three axles, trunk three axle) by network real-time synchronization to robot controller, robot controller makes the joint angles of robot keep consistent with operator's joint angles, has broken away from the control method that conventional complexity is loaded down with trivial details.The information such as the vision of robotic end, audio frequency carry out data exchange by the steric environment system of network Yu operator, it is achieved real-time stereoscopic vision and stereophone.It addition, robot is also transferred to steric environment system information such as local humiture, acceleration, compass magnetic fields.The application present invention can make operator faces distant scene such as body, to enhance scene sense of reality, it is achieved stereoeffect.1. a long-range motion sensing control robot, it is characterized in that: the information such as the acceleration of self X, Y, Z axis of body-sensing sensor collection, resolve the joint angles of operator's limbs in conjunction with space arithmetic after the information of the motion sensing control device each body-sensing sensor of collection, then angle information is packaged into packet, by the robot controller of network transmission to far-end.Resolve angles after robot controller reception packet, then controls the servomotor of corresponding joint to reach the effect that joint angles synchronizes.Robot becomes packet photographic head, audio collection device information package, carries out data exchange by the steric environment system of network Yu operator, makes operator experience stereoscopic vision and stereophone, to generate steric environment.
- 2. long-range motion sensing control robot according to claim 1, it is characterized in that: described body-sensing device configures a set of body-sensing sensor at operator's each limbs joint place, motion sensing control device carries out data exchange by communication protocol and body-sensing sensor, finally the data of each sensor are resolved the joint angles information of operator in conjunction with space arithmetic, and joint angle information is transferred in robot controller.
- 3. long-range motion sensing control robot according to claim 1, it is characterised in that: the Stereo Vision of described steric environment systematic collection robot, then pass through algorithm and generate stereoscopic vision.Operator can experience stereoscopic vision by steric environment system.
- 4. long-range motion sensing control robot according to claim 1, it is characterised in that: the stereo audio information of described steric environment systematic collection robot, then pass through algorithm and generate stereophone.Operator can experience stereophone by steric environment system.
- 5. long-range motion sensing control robot according to claim 1, it is characterised in that: the information such as described steric environment systematic collection robot locality humiture, acceleration, compass magnetic field, then data are shown and observe for operator.
- 6. long-range motion sensing control robot according to claim 1, it is characterised in that: described steric environment system may operate in Windows, Linux, IOS, android system.
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| CN201510297821.0A CN105710856A (en) | 2015-06-01 | 2015-06-01 | Remote motion sensing control robot |
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| CN201510297821.0A CN105710856A (en) | 2015-06-01 | 2015-06-01 | Remote motion sensing control robot |
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Cited By (3)
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| CN105726125A (en) * | 2016-02-23 | 2016-07-06 | 卓俊贤 | Shadow replacement robot |
| CN106101650A (en) * | 2016-08-01 | 2016-11-09 | 魏立科 | A kind of manless working face coal-winning machine and immersion remote control method thereof |
| CN106534824A (en) * | 2016-11-01 | 2017-03-22 | 安徽爱依特科技有限公司 | Robot possessing stereo vision and the image processing method thereof |
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| CN106534824A (en) * | 2016-11-01 | 2017-03-22 | 安徽爱依特科技有限公司 | Robot possessing stereo vision and the image processing method thereof |
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