CN104057450A - Teleoperation method of high-dimensional motion arm aiming at service robot - Google Patents
Teleoperation method of high-dimensional motion arm aiming at service robot Download PDFInfo
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- CN104057450A CN104057450A CN201410279982.2A CN201410279982A CN104057450A CN 104057450 A CN104057450 A CN 104057450A CN 201410279982 A CN201410279982 A CN 201410279982A CN 104057450 A CN104057450 A CN 104057450A
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- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a teleoperation method of a high-dimensional motion arm aiming at a service robot. The high-dimensional motion arm comprises a gesture recognizer, a pair of immersive virtual 3D glasses, an embedded processor with a router and the service robot; an independent motion planning method is adopted for a mechanical arm, the planning method is independently operated by a remote service robot, and the independent planning method is a path planning method based on sampling. By using the teleoperation method, the motion of arms of the remote service robot can be controlled in real time and can be experienced in a first visual angle, and the robot can independently plan a feasible motion path according to true environment. The teleoperation method can be applied to home service robots and has wide application values in the fields of industrial robots and industrial virtual manufacturing industries.
Description
Technical field
The present invention relates to belong to service robot field, relate in particular to a kind of control method that captures the object in complex environment by the high-dimensional mechanical arm of gesture capture system Long-distance Control service robot.
Background technology
Be accompanied by developing rapidly of Robotics, robot, in every field, as industry manufacture, the military civilian service industry of exploring and day by day rising etc., is widely used.Nowadays high speed information development, people's Working Life rhythm is accelerated, and wishes very much from heavy housework, to free, and the more time is spent on oneself want the thing of doing; On the other hand, countries in the world are due to the change of family form and life style, cause birthrate of population to reduce, add the continuous progress of health care science and technology, human society aging speed is in continuous quickening, Future population structure will become inverted pyramid structure gradually, this problem in Asia especially Greater China area day by day highlight.The social securities such as labor shortage, the elderly's treatment, health maintenance and demand for services extremely urgent, will impel more service robot especially with the robot of mechanical arm, to enter into common people house.
In recent years, although sweep the floor, the simple machine people such as monitoring and Edutainment is widely used, can not meet people's needs far away.People more need service robot as people, with arm, to remove to capture the object in environment, particularly can complete certain housework by direct remote control robot by the posture of user's hand, for example, open refrigerator, capture water tumbler etc.The present invention has proposed a kind of method that can Long-distance Control service robot mechanical arm according to this demand just.In the distant control method of service robot remote mechanical arm that academic journal or patent of invention are delivered at present, mainly contain the limitation of two aspects: one they for be that remote mechanical arm under simple environment (mainly referring to barrier few) is controlled, and in practical application, in environment, barrier is much more, and conventional method cannot guarantee the safe collisionless of mechanical arm; Its two they at user side, adopt expensive force feedback equipment to carry out remote control robot, this makes cannot civil nature with the service robot of mechanical arm.The present invention, by proposing a kind of brand-new system and control method, not only can make mechanical arm in complex environment, to finish the work smoothly, and also can find good balance in cost and effect.
Patent of invention < < Internet-based telerobotics system and time delay overcome method > > (publication number: CN102825603A).This disclosure of the invention a kind of Internet-based telerobotics system and time delay overcome method, native system is identical by two structures, the manipulator of function symmetry links together by network communication link.Operator operates master manipulator, makes master manipulator action, and master manipulator passes to actuating signal from manipulator by power and angular displacement sensor and Control on Communication link, can follow master manipulator and move in the same way.When being subject to ambient influnence from manipulator, can return to master manipulator in Zai Yuan road, make master manipulator experience too the effect of environment, then feed back to operator.This patent of invention is focused on the solution of network delay problem, but in the following express network epoch, delay problem is less for robot manipulation's impact, and this invention has adopted in practical application and uncommon isomorphism principal and subordinate's hand system in addition, so the range of application of this invention is very limited.Needs based on cost and simple to operateization, user more wishes to be controlled by low degree-of-freedom method of operating cheaply the motion of higher-dimension mechanical arm.
Mono-kind distant operate services robot system > > (publication number: CN103631221A) of patent of invention < <.A kind of distant operate services robot system of this disclosure of the invention, comprise the robot body and the operated from a distance terminal that by wireless communication networks, connect, in robot system, be provided with interactive voice module, video monitoring module, monitoring module, task management module and task operating terminal, task management module is located on robot body, and task operating terminal is located in operated from a distance terminal; Interactive voice module comprises two interactive voice terminals, be located at respectively on robot body and operated from a distance terminal on; Video monitoring module comprises that the IMAQ transmission submodule of being located on robot body and the image of being located in operated from a distance terminal receive display sub-module, and monitoring module comprises that the state acquisition of being located on robot body sends submodule and receives display sub-module with the state of being located in operated from a distance terminal.This invention only relates to the information communication of user side and robotic end, does not relate to the identification of gesture and the control of REMOTE MACHINE people mechanical arm.
Summary of the invention
In order to solve problem in prior art, the invention provides a kind of distant method of operating of higher-dimension motion arm for service robot, comprise gesture identification device, the virtual 3D glasses of immersion, with flush bonding processor and the service robot of router; Gesture identification device, is responsible for identification user's gesture and the three-dimensional coordinate that obtains hand, these information structures the control inputs of remote tele-operation, be 4DOF controlled quentity controlled variable; The virtual 3D glasses of immersion, are responsible for showing emulation gesture and the first visual angle information of serving robot; Flush bonding processor, be responsible for the control inputs of user side to pass to the service robot of far-end, and from far-end, pass the environment sensing data of service robot back, after processing, the image of generating virtual staff and free space, is input in the lump in virtual 3D glasses and shows after this image and binocular visual fusion; The artificial tasks carrying of the service-delivery machine mechanism of far-end, is provided with the mechanical arm of the higher-dimension free degree and serves robot body, and service-delivery machine human body is provided with sensor, and sensor comprises depth transducer and binocular vision system;
Mechanical arm adopts autokinetic movement planing method, and this planing method is robot autonomous by remote service
Operation, this autonomous planing method is a kind of paths planning method based on sampling, its flow process is as follows:
A, depth transducer obtain the three-dimensional information of robot manipulation's environment and set up environment three-dimensional map, then on this map, generation pass is planned required state space, comprise free space, Obstacles and control space, providing initial position and target location simultaneously;
B, set up motion structure tree, for preserving the legal motion of planning process;
The motion control amount of c, random given mechanical arm, by kinematics and the dynamics of comprehensive mechanical arm, calculates under this controlled quentity controlled variable effect, and robots arm is at the prediction pose of next update cycle;
The legitimacy of d, judgement prediction pose, if this pose is in free space, it is legal to be, and goes to step e, otherwise is judged to be illegally, goes to step c and again predicts;
E, legal motion control amount is joined in motion structure tree, and motion starting point is moved to newly-generated prediction pose, go to step c, so circulation is until arrive target location; Controlled quentity controlled variable in finally setting by motion structure, in conjunction with kinematics and the dynamics of robotic arm, generates final path;
If f has generated final path, utilize simple pid algorithm control to follow path motion; If do not find path, this explanation robot arm cannot arrive target location.
As a further improvement on the present invention, described gesture identification device identification user's gesture is closed or opens this two kinds of gestures.
As a further improvement on the present invention, described gesture identification device adopts low-cost motion-captured device Leap Motion, and the virtual 3D glasses of immersion adopt OculusRift, and flush bonding processor is used mini development board.
As a further improvement on the present invention, the mechanical arm of the higher-dimension free degree is 6DOF or 7 frees degree or more than 7 frees degree.
As a further improvement on the present invention, completing autokinetic movement planing method adopts high in the clouds to process or GPU parallel computation, mechanical arm can generate motion feasibility assessment value in autonomous planning process, together with environmental map and binocular real-time video, this several information is processed by the real-time user side that is transferred to, user is according to the information after processing, real-time adjustment arm posture.
As a further improvement on the present invention, service robot end is realized the control from master program, environment sensing and robot of robot, and its airborne computer requires to have very strong CPU, GPU and very large memory headroom.
As a further improvement on the present invention, flush bonding processor is selected the mini type PC that cost is low.
The invention has the beneficial effects as follows:
A kind of distant method of operating of higher-dimension motion arm for service robot of the present invention by gesture catch, the fusion from several different methods such as master programs of immersion binocular ophthalmoscope and far-end mechanical arm, the cost of the distant operation of service robot arm is greatly reduced, but operability has obtained reinforcement; This method has departed from expensive device for force feedback thinking, user only needs simple gesture operation, control that just can be real-time and experience the motion of remote service robot arm with the first visual angle, robot self can make the autonomous feasible motion path of cooking up according to its true environment.This invention not only can be applied to home services robot, can also, in industrial robot and industrial virtual manufacture field, have using value very widely.
Accompanying drawing explanation
Fig. 1 is that hardware system of the present invention forms structural representation;
Fig. 2 is the paths planning method flow chart that the present invention is based on sampling;
Fig. 3 is system integration schematic diagram of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
The present invention is directed to the distant operational issue of remote service robot arm, a kind of new implementation method has been proposed, user does not need expensive force feedback equipment at near-end, and arm motion that only just can remote control robot by gesture also completes the grasping body task under complex environment.The present invention by hardware system form scheme, autonomous planing method and the system integration technology of owing the lower higher-dimension mechanical arm of input form, below we launch respectively discussion with regard to these three aspects:
1, hardware system forms: as shown in the figure, system of the present invention is mainly by gesture identification device, the virtual 3D glasses of immersion, form with flush bonding processor and the service robot of router.
Gesture identification device adopts low-cost motion-captured device Leap Motion, is responsible for identification user's gesture (as closed or open) and the three-dimensional coordinate that obtains hand, these information structures the control inputs of remote tele-operation, be 4DOF controlled quentity controlled variable.The virtual 3D glasses of immersion adopt OculusRift, are responsible for showing the information such as the first visual angle of emulation gesture and remote service robot.Flush bonding processor is used mini development board, be responsible for the control inputs of user side to pass to the service robot of far-end, and from far-end, pass the environment sensing data of service robot back, after processing, the image of generating virtual staff and free space, is input in the lump in virtual 3D glasses and shows after this image and binocular visual fusion.The artificial tasks carrying of the service-delivery machine mechanism of far-end, is equipped with the mechanical arm of the higher-dimension free degree (more than 6DOF) and necessary sensor (comprising depth transducer and binocular vision system); Higher-dimension degree-of-freedom manipulator has guaranteed that robot can complete the complex task of similar staff under complex environment; Depth transducer provides the three-dimensional perception information of environment, and binocular vision system is in order to realize the experience of the telepresenc of user side, is similar to people's sensory perceptual system, and these two sensors are all by build-in services robot body, but not on mechanical arm.
2. in order to reduce costs and to increase operability, the present invention adopts low-cost gesture identification device to control far-end mechanical arm, but the control inputs obtaining due to gesture identification can only be used for controlling the terminal angle of mechanical arm, its input number is lower than the total number of degrees of freedom, of mechanical arm, exist redundant degree of freedom, therefore the control of mechanical arm belongs to and owes input control, if do not carry out special attitude planning, some joint of mechanical arm likely can collide with environment object.The present invention is directed to this problem, a kind of autokinetic movement planing method of mechanical arm has been proposed, can cook up the collisionless movement locus of safety according to environment space three-dimensional map and mechanical arm tail end target location, this planning algorithm does not carry out computing at ustomer premises access equipment, but by the robot autonomous operation of remote service.Traditional autonomous planing method (as A*, D*, potential energy field etc.) can only be applicable to the mechanical arm of low dimension, and the method that the present invention proposes can solve the three-dimensional space motion planning problem of higher-dimension mechanical arm.This autonomous planing method is a kind of path planning algorithm based on sampling, and as shown in Figure 2, its concise and to the point flow process is as follows:
A, depth transducer obtain the three-dimensional information of robot manipulation's environment and set up environment three-dimensional map by Octree map building method, then on this map, generation pass is planned required state space, comprise free space, Obstacles and control space, providing initial position and target location simultaneously;
B, set up motion structure tree, for preserving the legal motion of planning process;
The motion control amount of c, random given mechanical arm, by kinematics and the dynamics of comprehensive mechanical arm, calculates under this controlled quentity controlled variable effect, and robots arm is at the prediction pose of next update cycle;
The legitimacy of d, judgement prediction pose, if this pose is in free space, it is legal to be, and goes to step e, otherwise is judged to be illegally, goes to step c and again predicts;
E, legal motion control amount is joined in motion structure tree, and motion starting point is moved to newly-generated prediction pose, go to step c, so circulation is until arrive target location.Controlled quentity controlled variable in finally setting by motion structure, in conjunction with kinematics and the dynamics of robotic arm, generates final path.
If f has generated final path, utilize simple pid algorithm control to follow path motion; If do not find path, this explanation robot arm cannot arrive target location.
Although it is more consuming time to complete above-mentioned paths planning method, we can adopt high in the clouds to process or GPU parallel computation has come to address this problem, thereby reduce the sluggishness of user's gesture and manipulator motion.Mechanical arm can generate motion feasibility assessment value in autonomous planning process, and (this value is higher, the possibility that mechanical arm obtains feasible path is just higher), together with environmental map and binocular real-time video, this several information is processed by the real-time user side that is transferred to, user is according to the information after processing, real-time adjustment arm posture, to finish the work smoothly.In order to guarantee the real-time of video, H.264 we compress use to video after, then transmit.
3. the system integration:
Figure 3 shows that system integration schematic diagram.
We are divided into master control computer (the airborne computer of inserted computer and service robot) and ancillary equipment (OculusRift, LeapMotion and serve robot hardware's system) by whole system.Realization with regard to these systems is below described in detail:
We can select CubieBoard inserted computer, it is a kind of more powerful but mini type PC that cost is very low, it adopts the full intelligence A20 of domestic high-performance cpu chip (to be configured to Arm Cortex A7 Duo-Core Architecture and Arm Mali400MP2GPU, 1GDDR480M), support Wifi, gigabit Ethernet, USB, SATA hard disks etc., most importantly it supports H.264 coding and decoding video, greatly facilitates the real-time Transmission of far-end video.From service robot, through the video flowing H.264 compressing, pass through Internet Transmission to CubieBoard, decode.In order to realize REMOTE MACHINE people's control, cubieboard obtains the 3 d pose of user's gesture and resolves from peripheral hardware LeapMotion, form the control instruction corresponding with gesture and the simple simulation video of three-dimension gesture, after emulation video and decoded binocular video merge, directly outputing to OculusRift shows, control instruction is connected and is transferred on the man-machine live brain of REMOTE MACHINE by the Websocket based on Autobahn network service storehouse, and the sensing data of robot and status information are also transferred on cubieboard by this connection.In order to realize the feedback function that is similar to force feedback equipment, we have adopted the mode of analog simulation, by cubieboard according to the staff free space image of the feedback of status data generating virtual of robot and be input to 3D glasses and show, with the visual experience of this emulation, replace the actual mechanics perception of staff, can obtain the balance of good cost and experience sense.
Service robot end is realized the control from master program, environment sensing and robot of robot, and its airborne computer requires to have very strong CPU, GPU and very large memory headroom.Because the general volume of service robot is larger, can bear compared with heavy load, so we select high performance notebook or desk-top mainboard to realize airborne computer.On the airborne computer of robotic end, main operation as lower module: system is obtained the video at service robot the first visual angle from binocular camera shooting head, through H.264 compression after, by the video streaming under RTSP (real-time streaming protocol) to user side cubieboard main frame; The autonomous planning algorithm module of mechanical arm is obtained robot from user side and is controlled target, from robot hardware sensor, read heat transfer agent processes simultaneously, finally cook up correct feasible robotic arm path, output to driving device arm motion in robot hardware, and the status information of robot by Internet Transmission to user, make a policy for user.
The network communication of airborne computer is the same with user side main frame, and its video flowing and control information realize by RTSP and Websocket agreement respectively.In addition, the main frame at network two ends all adopts Ubuntu operating system, and it does not exist patent problem for increasing income.For robot field's easy to use well-known algorithms library (as SLAM, path planning etc.), we also will install famous software middleware ROS (being robot operating system) on manipulation robot basis.
Above content is in conjunction with concrete preferred embodiment further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (8)
1. for the distant method of operating of higher-dimension motion arm of service robot, it is characterized in that: comprise gesture identification device, the virtual 3D glasses of immersion, with flush bonding processor and the service robot of router; Gesture identification device, is responsible for identification user's gesture and the three-dimensional coordinate that obtains hand, these information structures the control inputs of remote tele-operation, be 4DOF controlled quentity controlled variable; The virtual 3D glasses of immersion, are responsible for showing emulation gesture and the first visual angle information of serving robot; Flush bonding processor, be responsible for the control inputs of user side to pass to the service robot of far-end, and from far-end, pass the environment sensing data of service robot back, after processing, the image of generating virtual staff and free space, is input in the lump in virtual 3D glasses and shows after this image and binocular visual fusion; The artificial tasks carrying of the service-delivery machine mechanism of far-end, is provided with the mechanical arm of the higher-dimension free degree and serves robot body, and service-delivery machine human body is provided with sensor, and sensor comprises depth transducer and binocular vision system;
Mechanical arm adopts autokinetic movement planing method, and this planing method is by the robot autonomous operation of remote service, and this autonomous planing method is a kind of paths planning method based on sampling, and its flow process is as follows:
Depth transducer obtains the three-dimensional information of robot manipulation's environment and sets up environment three-dimensional map, then on this map, generation pass is planned required state space, comprise free space, Obstacles and control space, providing initial position and target location simultaneously;
Set up motion structure tree, for preserving the legal motion of planning process;
The motion control amount of random given mechanical arm, by kinematics and the dynamics of comprehensive mechanical arm, calculates under this controlled quentity controlled variable effect, and robots arm is at the prediction pose of next update cycle;
The legitimacy of judging prediction pose, if this pose is in free space, it is legal to be, and goes to step e, otherwise is judged to be illegally, goes to step c and again predicts;
Legal motion control amount is joined in motion structure tree, and motion starting point is moved to newly-generated prediction pose, go to step c, so circulation is until arrive target location; Controlled quentity controlled variable in finally setting by motion structure, in conjunction with kinematics and the dynamics of robotic arm, generates final path;
If generated final path, utilize simple pid algorithm control to follow path motion; If do not find path, this explanation robot arm cannot arrive target location.
2. a kind of distant method of operating of higher-dimension motion arm for service robot according to claim 1, is characterized in that: described gesture identification device identification user's gesture is for closure or open this two kinds of gestures.
3. a kind of distant method of operating of higher-dimension motion arm for service robot according to claim 1, it is characterized in that: described gesture identification device adopts low-cost motion-captured device Leap Motion, the virtual 3D glasses of immersion adopt OculusRift, and flush bonding processor is used mini development board.
4. a kind of distant method of operating of higher-dimension motion arm for service robot according to claim 1, is characterized in that: the mechanical arm of the higher-dimension free degree is 6DOF or 7 frees degree or more than 7 frees degree.
5. a kind of distant method of operating of higher-dimension motion arm for service robot according to claim 1, it is characterized in that: in step a, depth transducer obtains the three-dimensional information of robot manipulation's environment and sets up environment three-dimensional map by Octree map building method.
6. a kind of distant method of operating of higher-dimension motion arm for service robot according to claim 1, it is characterized in that: complete autokinetic movement planing method and adopt high in the clouds to process or GPU parallel computation, mechanical arm can generate motion feasibility assessment value in autonomous planning process, together with environmental map and binocular real-time video, this several information is processed by the real-time user side that is transferred to, user is according to the information after processing, real-time adjustment arm posture.
7. a kind of distant method of operating of higher-dimension motion arm for service robot according to claim 1, it is characterized in that: service robot end is realized the control from master program, environment sensing and robot of robot, its airborne computer requires to have very strong CPU, GPU and very large memory headroom.
8. a kind of distant method of operating of higher-dimension motion arm for service robot according to claim 1, is characterized in that: flush bonding processor is selected the mini type PC that cost is low.
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