CN102789327A - Method for controlling mobile robot on basis of hand signals - Google Patents
Method for controlling mobile robot on basis of hand signals Download PDFInfo
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- CN102789327A CN102789327A CN2012102795856A CN201210279585A CN102789327A CN 102789327 A CN102789327 A CN 102789327A CN 2012102795856 A CN2012102795856 A CN 2012102795856A CN 201210279585 A CN201210279585 A CN 201210279585A CN 102789327 A CN102789327 A CN 102789327A
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Abstract
A method for controlling a mobile robot on basis of hand signals is realized according to the following steps of: selecting appropriate control terminal equipment and an appropriate mobile robot, and building a control system of the mobile robot; and mapping a hand signal which is made by an operator on a touch screen of a control terminal into a movement control command of the mobile robot, sending the command to the mobile robot, and realizing the movement of the mobile robot according to the movement command. The method has the following advantages that the hand signals are utilized to realize the movement control of the mobile robot, is intuitive and simple and convenient to operate, and is in accordance with human operation habits; and the control terminal of the mobile robot can be simplified, the size and weight are reduced, and the mobile robot is convenient to carry and transport.
Description
Technical field
The present invention relates to a kind of mobile robot control method based on gesture; Mainly be with the steering order that is mapped as the video camera that carries on mobile robot, the last The Cloud Terrace that carries of mobile robot and the The Cloud Terrace at the gesture operation on the touch screen equipment; Realization utilizes the purpose of gesture control mobile robot, The Cloud Terrace and camera motion, belongs to mobile robot's interaction control technology field.
Background technology
Because circumstance complication, the system handles information capability is limited, and the mobile robot mainly relies on operating personnel's manual operation control at present.
Traditional mobile robot control method mainly contains two kinds, and a kind of is on the control enclosure panel, to use operating rod (or rocking bar) to combine button that robot is controlled.Its advantage is visual in image, and shortcoming is that the control enclosure build is huge, influences portable transportation and manipulates; Another kind is on the computer software interface, to use button to combine external operating rod (or rocking bar) that robot is controlled.Its advantage is the space of having saved part control enclosure panel, and shortcoming is a complicated operation, can't break away from the dependence to operating rod.
Therefore, traditional mobile robot control method, operation easier is big, is not easy to carrying and transporting of operating personnel, thereby when the mobile robot is directly controlled, is limited to.
Summary of the invention
Technology of the present invention is dealt with problems: the mobile robot control terminal bodily form is huge to having now, the problem of complicated operation, provides a kind of gesture operation that is utilized on the touch screen equipment directly to control mobile robot's method.This method can be simplified control terminal, makes it to be easy to carry; Utilize gesture control mobile robot, meet people's operating habit more, simplify the operation, can let the convenient control moveable robot movement of operating personnel.
The mobile robot control method that the present invention is based on gesture realizes on following hardware carrier: control terminal and mobile robot with touch display screen.The connected mode of above hardware is as shown in Figure 1: will be mobile robot's motion control instruction in the operation map on the control terminal touch display screen, and send to the mobile robot, the mobile robot carries out this steering order; The video camera shooting environmental video of the last lift-launch of mobile robot feeds back to the control terminal display screen and shows, so that operating personnel observe operation.
Wherein, control terminal can be selected panel computer for use.Panel computer has the function of complete computing machine as knowing the touch input device of knowledge, can the software that compile be moved on panel computer, and can realize and the information interaction of robot.
Wherein, the mobile robot can select wheeled or caterpillar robot for use, mobile robot's last installation two-degree-of-freedom cradle head and Zoom camera, and the focal length of the angle of pitch of The Cloud Terrace and deflection angle and Zoom camera can be controlled through instruction.
The present invention is based on the mobile robot control method of gesture, its control method FB(flow block) is as shown in Figure 2, is realized by following concrete steps:
(1) set up the mobile robot control system, be embodied as:
(1.1) the calculation display equipment of selecting to have touch function is as control terminal;
(1.2) controlling object is the mobile robot, and this mobile robot goes up the equipment that carries and comprises the Zoom camera that carries on two-degree-of-freedom cradle head and the The Cloud Terrace at least;
(1.3) set up control terminal and mobile robot's communication channel;
(1.4) on control terminal, show the video image that video camera is taken;
(2) set up the mapping relations of gesture and moveable robot movement state, said mapping relations are:
(2.1) when a finger touch screen only being arranged and slide in effective viewing area of video image on screen, as shown in Figure 3, the finger sliding action is mapped as the steering order to The Cloud Terrace, is specially:
(2.1.1) when finger sliding distance on screen surpasses predetermined threshold, begin to produce steering order to The Cloud Terrace;
(2.1.2) finger slip component of horizontal direction and vertical direction on screen is mapped as the control to the The Cloud Terrace deflection angle and the angle of pitch respectively.It is identical with finger horizontal slip component direction that the The Cloud Terrace deflection angle changes direction; It is identical with the vertical slip component direction of finger that the The Cloud Terrace angle of pitch changes direction;
(2.1.3) frame out when finger, stop control The Cloud Terrace;
(2.2) when a finger touch screen only being arranged and double-click effective viewing area of video image on screen, as shown in Figure 4, The Cloud Terrace produces homing action, gets back to initial position;
When (2.3) effective viewing area of video image all produced slip as two finger touch screens and on screen, as shown in Figure 5, the finger sliding action was mapped as the steering order to focal length of camera, is specially:
(2.3.1) when the relative distance of two fingers on screen changes above predetermined threshold, begin to produce steering order to focal length of camera;
(2.3.2) when two finger relative distances increase, i.e. during two finger disengaging movements, expression is carried out amplifieroperation to present image, and the control focal length of camera increases with the observation that furthers;
(2.3.3) when two finger relative distances when reducing, promptly during two finger move toward one another, expression is carried out reduction operation to present image, and the control focal length of camera diminishes to increase field of view;
(2.3.4) when two fingers stop are moved or frameed out, stop control to focal length of camera;
(2.4) as two finger touch screens; But producing, the effective viewing area of having only finger video image on screen slides and during an other finger transfixion; As shown in Figure 6, the finger sliding action is mapped as the motion control instruction to the mobile robot, is specially:
(2.4.1) when a finger touch screen transfixion and another finger sliding distance on screen when surpassing predetermined threshold begins to produce the motion control instruction to the mobile robot;
(2.4.2) initial touch point with the finger that slides is an initial point; Touch point with in the finger slip of sliding is that terminal point is set up vector; The distance map of sliding is the control to mobile robot's rate travel or slewing rate; The direction of vector is mapped as the control to the moveable robot movement direction: when the angle of direction vector and screen vertical direction during less than setting threshold, the mobile robot moves forward or backward; When the angle of direction vector and screen level direction during less than setting threshold, mobile robot's pivot stud or parallel being displaced sideways; When the angle of direction vector and screen level direction and vertical direction all was not less than setting threshold, the mobile robot produced in traveling process and turns to or be displaced sideways;
(2.4.3) when a finger frames out, stop motion control, mobile robot's stop motion to the mobile robot.
The present invention's advantage compared with prior art is: traditional mobile robot's control enclosure comprises parts such as operating rod, control button and display screen, and control enclosure is heavier and bulky, is not easy to carrying and transporting of operating personnel.Technical scheme of the present invention utilizes gesture to realize the mutual control to the mobile robot; Can save parts such as operating rod and button on the control enclosure; Simplifying control enclosure forms; Effectively increase display area, both helped operating personnel that the mobile robot is carried out operation supervise and control, also help operating personnel to bear transportation.Utilize gesture control mobile robot convenient directly perceived, simple to operate simultaneously; Touch screen equipment is convenient for carrying, and has also enlarged the scope of application of the present invention.In addition, the extensive of touch screen equipment popularized, and makes the present invention have wide application prospect.
Description of drawings
Fig. 1 connects synoptic diagram for the hardware that the inventive method realizes;
Fig. 2 is the control flow block diagram of the inventive method;
Fig. 3 is a slip gesture synoptic diagram;
Fig. 4 is for double-clicking the gesture synoptic diagram;
Fig. 5 is a convergent-divergent gesture synoptic diagram;
Fig. 6 is for dragging the gesture synoptic diagram.
Embodiment
The particular hardware carrier that combines to be selected for use through specific embodiment below is described in detail the mobile robot control method that the present invention is based on gesture, shown in Fig. 1-6.
(1) sets up the mobile robot control system;
Be specially: select the expectant control terminal device; The embodiment of the invention adopts the ViewPad97i panel computer of ViewSonic company as control terminal; Select a wireless router as information interaction equipment; The UP-Voyager II two-wheel drive machines people of wound company production is won as the Be Controlled mobile robot in selection Beijing, and on this mobile robot, carries the EVI-D80P of Sony camera as Be Controlled The Cloud Terrace and video camera.Control terminal is through the information interaction of wireless router realization with the mobile robot.Under Windows XP operating system, utilize the panel computer control program of the Visual C++ exploitation of Microsoft company that the mobile robot is controlled.The mapping transformation of gesture on the control terminal and moveable robot movement state is accomplished by this control program.
(2) when above-mentioned mobile robot control system set up finish after, set up the mapping relations of gesture and moveable robot movement state, said mapping relations are:
(2.1) when a finger touch screen only being arranged and slide in effective viewing area of video image on screen, as shown in Figure 3, the finger sliding action is mapped as the steering order to The Cloud Terrace, is specially:
(2.1.1) sliding distance surpasses predetermined threshold R on screen when pointing
1The time, begin to produce steering order to The Cloud Terrace.Here, R
1=30 pixels;
(2.1.2) finger slip component of vertical direction on screen is mapped as the control to the The Cloud Terrace angle of pitch, pitching angle theta
1=k
1* y, the direction that the The Cloud Terrace angle of pitch changes is identical with the vertical slip component direction of finger; Finger slip component of horizontal direction on screen is mapped as the control to the The Cloud Terrace deflection angle, deflection angle theta
2=k
2* x, the direction that the The Cloud Terrace deflection angle changes is identical with finger horizontal slip component direction.Here, y, x are respectively the slip component of the vertical and horizontal direction of finger on screen, k
1, k
2Be respectively The Cloud Terrace angle of pitch gain coefficient and deflection angle gain coefficient.Here, k
1=k
2=0.216;
(2.1.3) frame out when finger, stop control The Cloud Terrace;
(2.2) when a finger touch screen only being arranged and double-click effective viewing area of video image on screen, as shown in Figure 4, The Cloud Terrace produces homing action, gets back to initial position;
When (2.3) effective viewing area of video image all produced slip as two finger touch screens and on screen, as shown in Figure 5, the finger sliding action was mapped as the steering order to focal length of camera, is specially:
(2.3.1), the relative distance of two fingers on screen surpasses predetermined threshold R when changing
2The time, begin to produce steering order to focal length of camera.Here, R
2=30 pixels;
(2.3.2) when two finger relative distances increase, i.e. during two finger disengaging movements, expression is carried out amplifieroperation to present image, and the control focal length of camera increases with the observation that furthers;
(2.3.3) when two finger relative distances when reducing, promptly during two finger move toward one another, expression is carried out reduction operation to present image, and the control focal length of camera diminishes to increase field of view;
(2.3.4) when two fingers stop are moved or frameed out, stop control to focal length of camera;
(2.4) as two finger touch screens; But producing, the effective viewing area of having only finger video image on screen slides and during an other finger transfixion; As shown in Figure 6, the finger sliding action is mapped as the motion control instruction to the mobile robot, is specially:
(2.4.1) when a finger touch screen transfixion and another finger sliding distance on screen surpasses predetermined threshold R
3The time, begin to produce motion control instruction to the mobile robot.Here, R
3=30 pixels.
(2.4.2) initial touch point with the finger that slides is an initial point, and the touch point in sliding with the finger that slides is that terminal point is set up vector, and the distance map of slip is the control to mobile robot's rate travel or slewing rate, rate travel or slewing rate v=k
3* l, the direction of vector is mapped as the control of mobile robot's direction: when the angle of direction vector and screen vertical direction during less than setting threshold α, the mobile robot moves forward or backward; When the angle of direction vector and screen level direction during less than setting threshold β, mobile robot's pivot stud or parallel being displaced sideways; When the angle of direction vector and horizontal direction and vertical direction all was not less than setting threshold, the mobile robot produced in traveling process and turns to.Wherein, the distance that l moves for the finger that slides, k
3Be the rate gain coefficient.Here, k
3=0.53, α=β=5 °;
(2.4.3) when a finger frames out, stop motion control, mobile robot's stop motion to the mobile robot.
In a word, the present invention has following advantage: utilize gesture to realize the motion control to the mobile robot, operate intuitively easyly, meet people's operating habit; Can simplify the mobile robot control terminal, reduce volume weight, transportation is easy to carry.
Instructions of the present invention is not set forth the known technology that part belongs to those skilled in the art in detail.
The above only is a preferred implementation of the present invention; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; Can also make some improvement and retouching, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (5)
1. mobile robot control method based on gesture is characterized in that performing step is following:
(1) set up the mobile robot control system, be embodied as:
(1.1) the calculation display equipment of selecting to have touch function is as control terminal;
(1.2) controlling object is the mobile robot, and this mobile robot goes up the equipment that carries and comprises at least: the Zoom camera that carries on two-degree-of-freedom cradle head and the The Cloud Terrace;
(1.3) set up control terminal and mobile robot's communication channel;
(1.4) on control terminal, show the video image that video camera is taken;
(2) set up the mapping relations of gesture and moveable robot movement state, said mapping relations are:
(2.1) when a finger touch screen only being arranged and slide in effective viewing area of video image on screen, the finger sliding action is mapped as the steering order to The Cloud Terrace, is specially:
(2.1.1) when finger sliding distance on screen surpasses predetermined threshold, begin to produce steering order to The Cloud Terrace;
(2.1.2) finger slip component of horizontal direction and vertical direction on screen is mapped as the control to the The Cloud Terrace deflection angle and the angle of pitch respectively.It is identical with finger horizontal slip component direction that the The Cloud Terrace deflection angle changes direction; It is identical with the vertical slip component direction of finger that the The Cloud Terrace angle of pitch changes direction;
(2.1.3) frame out when finger, stop control The Cloud Terrace;
(2.2) when a finger touch screen only being arranged and double-click effective viewing area of video image on screen, The Cloud Terrace produces homing action, gets back to initial position;
When (2.3) effective viewing area of video image all produced slip as two finger touch screens and on screen, the finger sliding action was mapped as the steering order to focal length of camera, is specially:
(2.3.1) when the relative distance of two fingers on screen changes above predetermined threshold, begin to produce steering order to focal length of camera;
(2.3.2) when two finger relative distances increase, i.e. during two finger disengaging movements, expression is carried out amplifieroperation to present image, and the control focal length of camera increases with the observation that furthers;
(2.3.3) when two finger relative distances when reducing, promptly during two finger move toward one another, expression is carried out reduction operation to present image, and the control focal length of camera diminishes to increase field of view;
(2.3.4) when two fingers stop are moved or frameed out, stop control to focal length of camera;
(2.4), but have only the effective viewing area of finger video image on screen to produce to slide and during an other finger transfixion, the finger sliding action is mapped as the motion control instruction to the mobile robot, is specially as two finger touch screens:
(2.4.1) when a finger touch screen transfixion and another finger sliding distance on screen when surpassing predetermined threshold begins to produce the motion control instruction to the mobile robot;
(2.4.2) initial touch point with the finger that slides is an initial point; Touch point with in the finger slip of sliding is that terminal point is set up vector; The distance map of sliding is the control to mobile robot's rate travel or slewing rate; The direction of vector is mapped as the control to the moveable robot movement direction: when the angle of direction vector and screen vertical direction during less than setting threshold, the mobile robot moves forward or backward; When the angle of direction vector and screen level direction during less than setting threshold, mobile robot's pivot stud or parallel being displaced sideways; When the angle of direction vector and horizontal direction and vertical direction all was not less than setting threshold, the mobile robot produced in traveling process and turns to or be displaced sideways;
(2.4.3) when a finger frames out, stop motion control, mobile robot's stop motion to the mobile robot.
2. the mobile robot control method based on gesture according to claim 1 is characterized in that: said control terminal is the interactive device that comprises touch-screen, like panel computer, touch-screen smart mobile phone etc.
3. the mobile robot control method based on gesture according to claim 1 is characterized in that: said controlling object is the mobile robot with video monitoring and video scouting function.
4. the mobile robot control method based on gesture according to claim 1; It is characterized in that: gesture is meant the touch point change in location of finger on touch-screen, and the gesture that is used to control the mobile robot has four kinds: single finger contact screen also moves and forms the slip gesture; The double at short notice touch screen of single finger forms double-clicks gesture; Two fingers slide on screen simultaneously and form the convergent-divergent gesture; Motionless and another finger of finger contact screen slide to form and to drag gesture.
5. the mobile robot control method based on gesture according to claim 1 is characterized in that: the slip gesture is mapped as pitching, the yaw motion control of The Cloud Terrace; The double-click gesture is mapped as the control that resets of The Cloud Terrace; The convergent-divergent gesture is mapped as the control of focal length of camera; Drag gesture and be mapped as mobile robot's motion control.
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