CN103049007A - System and method for operating mobile platform based on head movement of operator - Google Patents
System and method for operating mobile platform based on head movement of operator Download PDFInfo
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- CN103049007A CN103049007A CN2012105896261A CN201210589626A CN103049007A CN 103049007 A CN103049007 A CN 103049007A CN 2012105896261 A CN2012105896261 A CN 2012105896261A CN 201210589626 A CN201210589626 A CN 201210589626A CN 103049007 A CN103049007 A CN 103049007A
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Abstract
The invention provides a system and a method for operating a mobile platform based on head movement of an operator. The system comprises an operating terminal and a controlled terminal, wherein the operating terminal comprises a head movement detecting module, an operation instructing module and a video displaying module; and the controlled terminal comprises a mobile platform and a video collecting module. According to the embodiment of the invention, the operator can effectively move the operating mobile platform and rotate the video collecting module on the mobile platform in a more visualized manner by obtaining the location and gesture of the head of the operator and controlling the mobile platform; moreover, both hands of the operator can be used for carrying out other operations, so that more independent operation input and more input combinations are realized.
Description
Technical field
The present invention relates to a kind of control system of mobile platform, relate in particular to a kind of system and method for controlling mobile platform based on control staff's headwork.
Background technology
Thereby mobile robot's control system generally need to utilize control staff's hand to go to operate the interfaces such as control lever or keyboard button and send and control instruction.The shortcoming of the method maximum is the mobility that has taken control staff's hand, lowers the possibility that the control staff controls other unit on the movement of mobile platform and the mobile platform the same time.
Summary of the invention
The features and advantages of the present invention are partly statement in the following description, perhaps can describe obviously from this, perhaps can learn by putting into practice the present invention.
For the control staff is more operated the same time, the invention provides a kind of system and method for controlling mobile platform based on control staff's headwork.
It is as follows that the present invention solves the technical scheme that the problem of prior art adopts:
According to an aspect of the present invention, a kind of system that controls mobile platform based on control staff's headwork that provides comprises manipulation end and controlled end, controlled end comprises mobile platform and video acquisition module, and manipulation end comprises the headwork detection module, controls instruction module and video display module; Wherein:
The headwork detection module is used for obtaining control staff's head position and attitude angle, and head position information and attitude angle information sent to controls instruction module;
Control instruction module, be used for sending the move that the control mobile platform moves according to control staff's head position information to mobile platform, and the attitude command that is used for sending to mobile platform according to control staff's head pose angle information control video acquisition module attitude angle;
Mobile platform moves and then controls video acquisition module for the reception move and moves, and the attitude angle that is used for receiving attitude command and then control video acquisition module;
Video acquisition module is used for gathering mobile platform video on every side, and video is sent to video display module;
Video display module is used for receiving and showing the video that receives from video acquisition module.
As preferred embodiment, the video acquisition module The Cloud Terrace is set on the mobile platform, video acquisition module is installed on the video acquisition module The Cloud Terrace, and the video acquisition module The Cloud Terrace is used for receiving attitude command, and controls the attitude angle of video acquisition module according to attitude command.
As preferred embodiment, the headwork detection module comprises one or more the first camera, image analyzing unit and transmitting element, wherein:
The first camera is used for taking control staff's head phantom and sending image analyzing unit to;
Image analyzing unit is used for resolving head position information and attitude angle information according to control staff's head phantom, and sends to and control instruction module.
As preferred embodiment, control instruction module and comprise instruction generation unit and instruction sending unit, wherein:
The instruction generation unit is used for sending to instruction sending unit according to control staff's head position information and the Information generation move of attitude angle and attitude command;
Instruction sending unit is used for sending to mobile platform the movement of move control mobile platform, sends the attitude angle of attitude command control video acquisition module to the video acquisition module The Cloud Terrace.
As preferred embodiment, video acquisition module comprises one or above second camera and video transmitting element, and second camera all installs on the video acquisition module The Cloud Terrace, perhaps each camera respectively device a video acquisition module The Cloud Terrace is arranged.
As preferred embodiment, mobile platform comprises: sea, land or aerial mobile platform.
As preferred embodiment, mobile platform is by remote control or take advantage of a year control staff.
The present invention also provides a kind of method of controlling mobile platform based on control staff's headwork, and the method comprises:
Obtain control staff's head position information and attitude angle information;
According to control staff's head position information and attitude angle information, the movement of control mobile platform and the attitude angle of video acquisition module.
As preferred embodiment, according to control staff's head position information and attitude angle information, the movement of control mobile platform and the attitude angle of video acquisition module specifically may further comprise the steps:
According to the turning velocity of head pose angle (α, beta, gamma) control video acquisition module along its each axle of coordinate system
R wherein
1(), r
2(), r
3() is proportion function;
According to the translational speed of head position (x, y, z) control mobile platform along its each axle of coordinate system
Wherein, r
4(), r
5(), r
6() is proportion function.
As preferred embodiment, the method also comprises: video acquisition module gathers mobile platform front end video information, and shows in real time by video display module.
According to system of the present invention, by the position and the attitude that obtain control staff's head mobile platform is controlled, make the control staff can more intuitively effectively control the rotation of video acquisition module on the movement of mobile platform and the mobile platform, and control staff's both hands can carry out other operation, can have more control separately input and more input combinations.
By reading instructions, those of ordinary skills will understand feature and the content of these technical schemes better.
Description of drawings
Below by describing particularly the present invention with reference to the accompanying drawings and in conjunction with example, advantage of the present invention and implementation will be more obvious, wherein content shown in the accompanying drawing only is used for explanation of the present invention, and does not consist of the restriction of going up in all senses of the present invention, in the accompanying drawings:
A kind of system architecture schematic diagram of controlling mobile platform based on control staff's headwork that Fig. 1 provides for the embodiment of the invention;
A kind of system architecture schematic diagram of controlling mobile platform based on control staff's headwork that Fig. 2 provides for the preferred embodiment of the present invention;
The preferred embodiment of the present invention a kind of headwork detection module that provides and the structural representation of controlling instruction module are provided Fig. 3;
A kind of coordinate schematic diagram of controlling position and video display module that Fig. 4 provides for the preferred embodiment of the present invention.
A kind of video acquisition module that Fig. 5 provides for the preferred embodiment of the present invention and the structural representation of video display module;
A kind of method flow diagram of controlling mobile platform based on control staff's headwork that Fig. 6 provides for the embodiment of the invention.
A kind of video acquisition module coordinate schematic diagram that Fig. 7 provides for the preferred embodiment of the present invention;
Embodiment
Be illustrated in figure 1 as a kind of system architecture schematic diagram of controlling mobile platform based on control staff's headwork that the embodiment of the invention provides.Among the figure, this system comprises manipulation end 10 and controlled end 20, and manipulation end 10 comprises headwork detection module 101, controls instruction module 102 and video display module 103; Controlled end 20 comprises mobile platform 201 and video acquisition module 203, wherein:
Headwork detection module 101 is used for obtaining control staff's head position and attitude angle, and head position information and attitude angle information sent to controls instruction module 102;
Control instruction module 102 and be used for sending the move that control mobile platform 201 moves according to control staff's head position information to mobile platform 201, and the attitude command that is used for sending to mobile platform 201 according to control staff's head pose angle information control video acquisition module 203 attitude angles;
Mobile platform 201 moves and then controls video acquisition module 203 for the reception move and moves, and the attitude angle that is used for receiving attitude command and then control video acquisition module 203;
Video acquisition module 203 is used for gathering mobile platform 201 video on every side, and video is sent to video display module 103;
Be illustrated in figure 2 as a kind of system architecture schematic diagram of controlling mobile platform based on control staff's headwork that the preferred embodiment of the present invention provides.Video acquisition module The Cloud Terrace 202 is set on the mobile platform 201, video acquisition module 203 is installed on the video acquisition module The Cloud Terrace 202, video acquisition module The Cloud Terrace 202 is used for receiving attitude command, and controls the attitude angle of video acquisition module 203 according to attitude command.Because mobile platform 201 can change the position of video acquisition module The Cloud Terrace 202, so the position of video acquisition module 203 also can be regulated.Information between manipulation end 10 and the controlled end 20 (comprising move, attitude command and video information) can transmit by wired or wireless mode, controls instruction module 102 and includes but not limited to the mode that mobile platform 201 and video acquisition module The Cloud Terrace 202 sends instructions: internet, LAN (Local Area Network) or radiowave.
The mobile platform of the present embodiment can be on land and floating walking, also can be aloft with water in mobile, include but not limited to mobile robot or augmentor.Mobile platform can be by remote control, also can take advantage of and carry a control staff.
The preferred embodiment of the present invention headwork detection module 101 that provides and the structural representation of controlling instruction module 102 are provided, this headwork detection module 101 comprises one or more the first camera 1011 and image analyzing unit 1012, this is controlled instruction module 102 and comprises instruction generation unit 1021 and instruction sending unit 1022, wherein:
The first camera 1011 is used for taking control staff's head phantom and sending image analyzing unit 1012 to;
Image analyzing unit 1012 is used for parsing head position information and attitude angle information according to described control staff's head phantom, and sends the instruction generation unit 1021 of controlling instruction module 102 to.
Head position information and attitude angle information that instruction generation unit 1021 is used for according to described control staff, and in conjunction with the operability of described mobile platform and the configuration of described video acquisition module The Cloud Terrace, generate move and attitude command and send to instruction sending unit 1022;
Instruction sending unit 1022 is used for sending to mobile platform the movement of move control mobile platform, sends the attitude angle of attitude command control video acquisition module 203 to video acquisition module The Cloud Terrace 202.
See also Fig. 3 and Fig. 4, specifically, headwork detection module 101 comprises an image analyzing unit 1012 and one or more the first camera 1011.Image analyzing unit 1012 can be installed to computing machine, and DSP is on the FPGA etc.The first camera 1011 includes but not limited to video camera, web camera on the handheld devices (such as flat computer, laptop computer, smart mobile phone etc.) etc.Control staff's face is in the visual line of sight of the first camera 1011 during shooting.As shown in Figure 4, take video display module 103 coordinate systems as reference, head position information (x, y, z) and attitude angle information (α, beta, gamma).Can use any head position and attitude as initial value (namely when this position and the attitude, x, y, z, α, the beta, gamma value is all zero) before detecting.More intuitive sensation is arranged when controlling in order to make, and the control staff is just to move the center of picture as initial value facing to video display module 103 and head position in suggestion.Head position and attitude detection can include but not limited to realize by visible sensation method.The first camera 1011 is taken the image of control staff's head and is sent image analyzing unit 1012 to, image analyzing unit 1012 parses head position information (x take video display module 103 coordinate systems as reference according to control staff's head phantom, y, z) and attitude angle information (α, β, γ), and send the instruction generation unit 1021 of controlling instruction module 102 to.Instruction generation unit 1021 is according to control staff's the head position information (x take video display module 103 coordinate systems as reference, y, z) and attitude angle information (α, β, γ), and in conjunction with the operability of mobile platform 201 and the configuration of video acquisition module The Cloud Terrace 202, generate move and attitude command and send to instruction sending unit 1022; Instruction sending unit 1022 sends the movement of move control mobile platform 201 to mobile platform 201, send the attitude angle of attitude command control video acquisition module 203 to video acquisition module The Cloud Terrace 202.
In the present embodiment, control instruction module 102 and can under same Ge platform, move (such as computing machine, DSP, FPGA etc.) with image analyzing unit 1012, can also distinguish independently and move such as computing machine at a Ge platform, DSP, FPGA etc.As not on identical platform, the mode of transmission can also but be not limited to use RS232, the standards such as CAN realize.
Be illustrated in figure 5 as video acquisition module 203 that the embodiment of the invention provides and the structural representation of video display module 103, among the figure, this video acquisition module 203 comprises video transmitting element 2032 and one or above second camera 2031; This video display module 103 comprises video reception unit 1031 and display 1032, wherein:
Second camera 2031 is used for gathering mobile platform video on every side, and sends to video transmitting element 2032;
The video that video transmitting element 2032 is used for second camera 2031 is caught carries out format conversion, and sends to the video reception unit 1031 of video display module 103;
Video reception unit 1031 is used for the vision signal of video transmitting element 2032 transmissions of receiver, video acquisition module 103, and sends to display 1032;
Display 1032 is used for showing the vision signal that receives from video reception unit 1031.
Specifically, video acquisition module 203 can comprise that the second camera 2031 that or above second camera 2031(can be all installs on the video acquisition module The Cloud Terrace 202, also can be that each camera respectively has a video acquisition module The Cloud Terrace 202) and video transmitting element 2032.The video that video transmitting element 2032 is caught second camera 2031 carries out the video reception unit 1031 that format conversion is sent to video display module 103, after the vision signal that the video transmitting element 2032 of video reception unit 1031 receiver, video acquisition modules 203 sends, send display 1032 to and carry out the display video image and allow the control staff observe.
Wherein, video reception unit 1031 receives the mode of the vision signal that sends over from the video transmitting element 2032 of video acquisition module 203 and can be but be not limited to by the internet LAN (Local Area Network) or radiowave.The video file that video reception unit 1031 is sent to display 1032 comprises and is but is not limited to HDMI, DVI, and the VGA form, and display can be but be not limited to LCD, LED, CRT monitor.
Please refer to Fig. 2, Fig. 4, Fig. 6 and Fig. 7, the embodiment of the invention provides, and a kind of method of controlling mobile platform based on control staff's headwork comprises:
S502, the head position information of obtaining the control staff and attitude angle information;
S504, according to control staff's head position information and attitude angle information, and in conjunction with the operability of mobile platform 201 and the configuration of video acquisition module The Cloud Terrace 202, the movement of control mobile platform 201 and the attitude angle of video acquisition module 203.
A kind of method of controlling mobile platform based on control staff's headwork further comprises: video acquisition module 203 gathers mobile platforms 201 front end video informations, and shows in real time by video display module 103.
Specifically, control instruction module 102 from the head motion detection module 101 obtain six independently control commands, that is: head position information (x, y, z) and attitude angle information (α, β, γ), then in conjunction with mobile platform 201 can be handling and the configuration of video acquisition module The Cloud Terrace 202, control instruction to mobile platform 201 and 202 transmissions of video acquisition module The Cloud Terrace, send mode comprises and being not limited to by the internet, and the modes such as LAN (Local Area Network) or radiowave are sent to video acquisition module The Cloud Terrace 202 and mobile platform 201 controlling instruction.
As shown in Figure 7, head pose angle (α, beta, gamma) control video acquisition module 203 is according to the turning velocity of its each axle of coordinate system
Its conversion order is as follows:
Wherein, r
1(), r
2(), r
3() is proportion function, can be linear or non-linear.
Turning to of video acquisition module 203 can be by the realization that turns to of video acquisition module The Cloud Terrace 202 or mobile platform 201.If the mobility of video acquisition module The Cloud Terrace 202 and mobile platform 201 fails to satisfy fully the some of them diversion order, then can only be considered as irrealizable operational order, other orders continue to carry out.For example mobile platform 201 is to walk by land, adds that video acquisition module The Cloud Terrace 202 does not have v directional steering function as shown in Figure 7, and control staff's head position is to affect mobile platform 201 or video acquisition module The Cloud Terrace 202 along the rotation of β axle in the case, namely
Invalid.
Head position (x, y, z) control video acquisition module 203 is according to moving direction and the speed of its coordinate system
This is realized by the mobile of mobile platform:
Wherein, r
4(), r
5(), r
6() is proportion function, can be linear or non-linear.
If the mobility of video acquisition module The Cloud Terrace 202 and mobile platform 201 fails to satisfy fully the some of them movement directive, then can only be considered as irrealizable operational order, other orders continue to carry out.For example mobile platform 201 is to walk by land, and video acquisition module 203 can not be moved along c-axis (referring to Fig. 7), and control staff's head position is can not affect mobile platform 201 along moving of z axle in the case, namely
Invalid.
In the above embodiment of the present invention, by the position and the attitude that obtain control staff's head mobile platform is controlled, make the control staff can more intuitively effectively control the rotation of video acquisition module on the movement of mobile platform and the mobile platform, and control staff's both hands can carry out other operation, can have more control separately input and more input combinations.
Above with reference to the accompanying drawings of the preferred embodiments of the present invention, those skilled in the art do not depart from the scope and spirit of the present invention, and can have multiple flexible program to realize the present invention.For example, the feature that illustrates or describe as the part of an embodiment can be used for another embodiment to obtain another embodiment.Below only for the better feasible embodiment of the present invention, be not so limit to interest field of the present invention, the equivalence that all utilizations instructions of the present invention and accompanying drawing content are done changes, and all is contained within the interest field of the present invention.
Claims (10)
1. system that controls mobile platform based on control staff's headwork, this system comprises manipulation end and controlled end, described controlled end comprises mobile platform and video acquisition module, it is characterized in that, described manipulation end comprises the headwork detection module, controls instruction module and video display module; Wherein:
Described headwork detection module is used for obtaining control staff's head position and attitude angle, and described head position information and attitude angle information are sent to the described instruction module of controlling;
The described instruction module of controlling, be used for sending the move that the described mobile platform of control moves according to described control staff's head position information to described mobile platform, and the attitude command that is used for sending to described mobile platform according to described control staff's head pose angle information the described video acquisition module attitude angle of control;
Described mobile platform is used for receiving described move and moves and then control described video acquisition module and move, and is used for the attitude angle that receives described attitude command and then control described video acquisition module;
Described video acquisition module is used for gathering described mobile platform video on every side, and described video is sent to described video display module;
Described video display module is used for receiving and showing the video that receives from described video acquisition module.
2. the system that controls mobile platform based on control staff's headwork according to claim 1, it is characterized in that, the video acquisition module The Cloud Terrace is set on the described mobile platform, described video acquisition module is installed on the described video acquisition module The Cloud Terrace, described video acquisition module The Cloud Terrace is used for receiving described attitude command, and controls the attitude angle of described video acquisition module according to described attitude command.
3. the system that controls mobile platform based on control staff's headwork according to claim 2 is characterized in that, the headwork detection module comprises one or more the first camera, image analyzing unit and transmitting element, wherein:
Described the first camera is used for taking control staff's head phantom and sending described image analyzing unit to;
Described image analyzing unit is used for resolving head position information and attitude angle information according to described control staff's head phantom, and sends the described instruction module of controlling to.
4. the system that controls mobile platform based on control staff's headwork according to claim 2 is characterized in that, the described instruction module of controlling comprises instruction generation unit and instruction sending unit, wherein:
Described instruction generation unit is used for sending to instruction sending unit according to described control staff's head position information and the Information generation move of attitude angle and attitude command;
Described instruction sending unit is used for sending to mobile platform the movement of move control mobile platform, sends the attitude angle of attitude command control video acquisition module to the video acquisition module The Cloud Terrace.
5. the system that controls mobile platform based on control staff's headwork according to claim 2, it is characterized in that, described video acquisition module comprises one or above second camera and video transmitting element, described second camera all installs on the video acquisition module The Cloud Terrace, perhaps each camera respectively device a video acquisition module The Cloud Terrace is arranged.
6. the described system that controls mobile platform based on control staff's headwork of any one claim is characterized in that according to claim 1-5, and described mobile platform comprises: sea, land or aerial mobile platform.
7. the described system that controls mobile platform based on control staff's headwork of any one claim is characterized in that according to claim 1-5, and described mobile platform is by remote control or take advantage of a year control staff.
8. a method of controlling mobile platform based on control staff's headwork is characterized in that, the method comprises:
Obtain control staff's head position information and attitude angle information;
According to described control staff's head position information and attitude angle information, control the movement of described mobile platform and the attitude angle of video acquisition module.
9. the method for controlling mobile platform based on control staff's headwork according to claim 8, it is characterized in that, described head position information and attitude angle information according to described control staff, control the movement of described mobile platform and the attitude angle of video acquisition module, specifically may further comprise the steps:
According to the turning velocity of head pose angle (α, beta, gamma) control video acquisition module along its each axle of coordinate system
R wherein
1(), r
2(), r
3() is proportion function;
According to the translational speed of head position (x, y, z) control mobile platform along its each axle of coordinate system
Wherein, r
4(), r
5(), r
6() is proportion function.
10. the method for controlling mobile platform based on control staff's headwork according to claim 8 is characterized in that, comprising: video acquisition module gathers mobile platform front end video information, and shows in real time by video display module.
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