CN104057450B - A kind of higher-dimension motion arm teleoperation method for service robot - Google Patents
A kind of higher-dimension motion arm teleoperation method for service robot Download PDFInfo
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- CN104057450B CN104057450B CN201410279982.2A CN201410279982A CN104057450B CN 104057450 B CN104057450 B CN 104057450B CN 201410279982 A CN201410279982 A CN 201410279982A CN 104057450 B CN104057450 B CN 104057450B
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention provides a kind of higher-dimension mechanical arm teleoperation method for service robot, including gesture recognition, immersion virtual 3D glasses, the flush bonding processor of band router and service robot；Mechanical arm uses autokinetic movement planing method, and this planing method is by the robot autonomous operation of remote service, and this autokinetic movement planing method is a kind of paths planning method based on sampling.The present invention can be real-time the motion controlling and experiencing with the first visual angle remote service robot arm, robot self can make according to its true environment and autonomous cook up feasible motion path.This invention can be applied not only to home-services robot, it is also possible in industrial robot and industry Visual Manufacturing field, has using value widely.
Description
Technical field
The present invention relates to service robot field, particularly relate to a kind of by gesture-capture system remote control
The high-dimensional mechanical arm of service robot processed captures the control method of the object in complex environment.
Background technology
Developing rapidly along with Robotics, robot in every field, as industry manufacture,
The military civilian service industry etc. explored and day by day rise, is widely used.Nowadays believe
Breath high speed development, the Working Life tempo increase of people, it is highly desirable to can solve from heavy housework
Take off, by flower of more time oneself wanting above the thing done；On the other hand, countries in the world by
In family form and living-pattern preservation, cause birthrate of population to reduce, add health care science and technology
Continuous progressive, human society aging speed is constantly being accelerated, and Future population structure will gradually become
Becoming inverted pyramid structure, in Asia, especially Greater China area highlights this problem day by day.Work
The exception of the social securities such as power shortage, the elderly's treatment, health maintenance and demand for services is urgent, will promote
More service robot is made to enter into common people house especially with the robot of mechanical arm.
In recent years, although sweeping the floor, monitoring and the simple machine people such as Edutainment has obtained widely should
With, but can not meet people's needs far away.People can be as people with greater need for service robot
Remove to capture the object in environment with arm, particularly the most remotely can be controlled by the posture of user's hand
Robot completes certain housework, such as, open refrigerator, captures water tumbler etc..The present invention is just according to this
Kind of demand propose a kind of can the method for remote control service robot arm.Academic journal at present
Or in the service robot remote machine mechanical arm remote control method that patent of invention is delivered, mainly there are two
The limitation of aspect: one they be directed under simple environment (generally referring to barrier few)
Remote machine mechanical arm controls, and in actual application, in environment, barrier is much more, and conventional method cannot
Ensure the safe collisionless of mechanical arm；Its two they to use expensive force feedback equipment at user side remote
Process control robot, this makes the service robot with mechanical arm cannot civil nature.The present invention passes through
Propose a kind of brand-new system and control method, can not only make the mechanical arm can be at complex environment
In smoothly complete task, and on cost and effect, also can find well balance.
Patent of invention " Internet-based telerobotics system and time delay conquering method " (publication number:
CN102825603 A).A kind of Internet-based telerobotics system of this disclosure of the invention and time delay overcome
Method, native system is identical by two structures, and the manipulator that function is symmetrical is contacted by network communication link
Together.Master manipulator is operated by operator, makes master manipulator action, and master manipulator passes through power
With angular displacement sensor and Control on Communication link, actuating signal is passed to from manipulator so that it is can
Follow master manipulator to move in the same direction.When from manipulator by ambient influnence time, it is possible to backtracking is given again
Master manipulator, makes master manipulator experience the effect of environment too, then feeds back to operator.This
Patent of invention focuses on the solution of network latency problems, but at following express network epoch, delay problem
Impact for robot manipulation is less, during this invention have employed actual application in addition and uncommon with
Structure principal and subordinate's hand system, therefore the range of application of this invention is very limited.Based on cost and simple operation
Needs, user is more desirable to be to control higher-dimension mechanical arm by the low degree-of-freedom method of operating of low cost
Motion.
Patent of invention " a kind of remote operating service robot system " (publication number: CN103631221 A).
This disclosure of the invention one remote operating service robot system, including the machine connected by wireless communication networks
Device human body and remote operation terminal, be provided with voice interaction module, video monitoring mould in robot system
Block, monitoring module, task management module and task operating terminal, task management module is located at machine
On device human body, task operating terminal is located in remote operation terminal；Voice interaction module includes two
Interactive voice terminal, is respectively arranged on robot body and in remote operation terminal；Video monitoring module
Including the IMAQ transmission submodule being located on robot body and the figure being located in remote operation terminal
As receiving display sub-module, monitoring module includes that the state acquisition being located on robot body sends
Submodule and the state being located in remote operation terminal receive display sub-module.This invention pertains only to user
End communicates with the information of robotic end, is not related to identification and the control of REMOTE MACHINE people's mechanical arm of gesture
System.
Summary of the invention
In order to solve problem in prior art, the invention provides a kind of higher-dimension for service robot
Mechanical arm teleoperation method, including gesture recognition, immersion virtual 3D glasses, band router
Flush bonding processor and service robot；Gesture recognition, is responsible for identifying gesture and the acquisition of user
The three-dimensional coordinate of hand, the control input of these information structures remote tele-operation, for 4DOF control
Amount；Immersion virtual 3D glasses, are responsible for display emulation gesture and service the first visual angle letter of robot
Breath；Flush bonding processor, is responsible for the input that controls of user side is passed to the service robot of far-end,
And the environment sensing data of service robot are passed back from far-end, generate virtual staff and the most empty after process
Between image, be input in immersion virtual 3D glasses aobvious after this image and binocular visual fusion in the lump
Show；The service-delivery machine artificial tasks carrying mechanism of far-end, is provided with mechanical arm and the service of the higher-dimension free degree
Robot body, service-delivery machine human body is provided with sensor, and sensor includes that depth transducer is with double
Visually vision system；
Mechanical arm uses autokinetic movement planing method, and this planing method is robot autonomous by remote service
Running, this autokinetic movement planing method is a kind of paths planning method based on sampling, its flow process
As follows:
A, depth transducer obtain the three-dimensional information of robot manipulation's environment and set up surrounding three-dimensional map,
Generate the state space needed for path planning the most on this map, including free space,
Obstacles and control space, provide initial position and target location simultaneously；
B, set up motion structure tree, for preserving the legal motion in planning process；
C, the motion control amount of random given mechanical arm, by kinematics and the power of integrated machine mechanical arm
Learning, calculate under this controlled quentity controlled variable effect, mechanical arm is in the prediction bits of next update cycle
Appearance；
D, the legitimacy of judgement prediction pose, if this pose is in free space, it is legal to be,
Go to step e, be otherwise judged to illegal, go to step c and again predict；
E, legal motion control amount is joined in motion structure tree, and motion starting point is moved to new life
The prediction pose become, goes to step c, and so circulation is until arriving target location；Finally
Combined kinematics and the dynamics of mechanical arm by the controlled quentity controlled variable in motion structure tree, generate
Final path；
If f generates final path, then utilize simple pid algorithm to control robot and follow road
Move in footpath；If not finding path, this explanation robot arm cannot arrive target position
Put.
As a further improvement on the present invention, the gesture of described gesture recognition identification user for Guan Bi or
Open both gestures.
As a further improvement on the present invention, described gesture recognition uses the motion-captured device of low cost
Leap Motion, immersion virtual 3D glasses use OculusRift, and flush bonding processor uses mini
Development board.
As a further improvement on the present invention, the mechanical arm of the higher-dimension free degree is 6DOF or 7 freedom
More than degree or 7 frees degree.
As a further improvement on the present invention, complete autokinetic movement planing method use high in the clouds process or
GPU parallel computation, mechanical arm can generate motion feasibility assessment value in autokinetic movement planning process,
Together with environmental map and binocular real-time video, these several information are entered by the real-time user side that is transferred to
Row processes, and user is then according to the information after processing, real-time adjustment arm posture.
As a further improvement on the present invention, service robot end realize robot autokinetic movement planning,
Environment sensing and the control of robot, its airborne computer requires to have the strongest CPU, GPU and very
Big memory headroom.
As a further improvement on the present invention, flush bonding processor selects mini type PC of low cost.
The invention has the beneficial effects as follows:
A kind of higher-dimension mechanical arm teleoperation method for service robot of the present invention by gesture-capture,
The fusion of the multiple methods such as the autokinetic movement planning of immersion binocular ophthalmoscope and remote termination mechanical arm so that clothes
The cost of business robot arm remote operating is greatly lowered, but operability is strengthened；This side
Method has only to simple gesture operation departing from high cost device for force feedback thinking, user, it is possible to real
Time control and with first visual angle experience remote service robot arm motion, robot self energy
Enough according to its true environment autonomous cook up feasible motion path.This invention can be applied not only to
Home-services robot, it is also possible in industrial robot and industry Visual Manufacturing field, have very
It is widely applied value.
Accompanying drawing explanation
Fig. 1 is that hardware system of the present invention constitutes structural representation；
Fig. 2 is present invention paths planning method flow chart based on sampling；
Fig. 3 is the integrated schematic diagram of present system.
Detailed description of the invention
The present invention will be further described below in conjunction with the accompanying drawings.
The present invention is directed to the remote operating problem of remote service robot arm, it is proposed that a kind of new realization
Method, user be need not the force feedback equipment of costliness at near-end, only just can remotely be controlled by gesture
The arm motion of robot the grasping body task under completing complex environment.The present invention is by hardware system
Composition scheme, the autokinetic movement planing method of the higher-dimension mechanical arm owed under input and system integration technology
Composition, below we with regard to these three aspect respectively launch discuss:
1, hardware system constitute: as it can be seen, the system of the present invention mainly by gesture recognition, immerse
Formula virtual 3D glasses, the flush bonding processor of band router and service robot composition.
Gesture recognition uses low cost motion-captured device Leap Motion, is responsible for identifying the gesture of user
(such as Guan Bi or open) and obtain the three-dimensional coordinate of hand, the control of remote tele-operation of these information structures
System input, for 4DOF controlled quentity controlled variable.Immersion virtual 3D glasses use OculusRift, are responsible for aobvious
Show the information such as the first visual angle of emulation gesture and remote service robot.Flush bonding processor uses mini
Development board, is responsible for the input that controls of user side is passed to the service robot of far-end, and passes from far-end
Return the environment sensing data of service robot, after process, generate the image of virtual staff and free space,
Display it is input in immersion virtual 3D glasses in the lump after this image and binocular visual fusion.Far-end
Service-delivery machine artificial tasks carrying mechanism, is equipped with the machinery of the higher-dimension free degree (more than 6DOF)
Arm and necessary sensor (including depth transducer and binocular vision system)；Higher-dimension degree-of-freedom manipulator
Ensure that robot can complete the complex task of similar staff under complex environment；Depth transducer carries
For the three-dimensional perception information of environment, binocular vision system is then the body of the telepresenc in order to realize user side
Test, be similar to the sensory perceptual system of people, the two sensor all by build-in services robot body, and
On on-mechanical arm.
2., in order to reduce cost and increase operability, the present invention uses low cost gesture recognition to control
Remote termination mechanical arm processed, but due to gesture identification obtain control input can only be for controlling mechanical arm
Terminal angle, its input number, less than the total number of degrees of freedom, of mechanical arm, i.e. also exists redundant degree of freedom, because of
The control of this mechanical arm belongs to owes input control, if not carrying out special attitude planning, mechanical arm
A little joints likely can collide with environmental objects.The present invention is directed to this problem, it is proposed that Yi Zhongji
The autokinetic movement planing method of mechanical arm, it is possible to according to environment space three-dimensional map and mechanical arm tail end target
The collisionless movement locus of safety is cooked up in position, and this planning algorithm is not transported at ustomer premises access equipment
Calculate, but by the robot autonomous operation of remote service.Traditional autokinetic movement planing method (such as A*,
D*, potential energy field etc.) may be only available for the mechanical arm of low dimensional, and the method that the present invention proposes can solve
The certainly three-dimensional space motion planning problem of higher-dimension mechanical arm.This autokinetic movement planing method is a kind of base
In the path planning algorithm of sampling, as in figure 2 it is shown, its brief flow process is as follows:
A, depth transducer obtain the three-dimensional information of robot manipulation's environment and by Octree map building
Method sets up surrounding three-dimensional map, generates the state space needed for path planning the most on this map,
Including free space, Obstacles and control space, provide initial position and target position simultaneously
Put；
B, set up motion structure tree, for preserving the legal motion in planning process；
C, the motion control amount of random given mechanical arm, by kinematics and the power of integrated machine mechanical arm
Learning, calculate under this controlled quentity controlled variable effect, mechanical arm is in the prediction bits of next update cycle
Appearance；
D, the legitimacy of judgement prediction pose, if this pose is in free space, it is legal to be,
Go to step e, be otherwise judged to illegal, go to step c and again predict；
E, legal motion control amount is joined in motion structure tree, and motion starting point is moved to new life
The prediction pose become, goes to step c, and so circulation is until arriving target location.Finally
Combined kinematics and the dynamics of mechanical arm by the controlled quentity controlled variable in motion structure tree, generate
Final path.
If f generates final path, then utilize simple pid algorithm to control robot and follow road
Move in footpath；If not finding path, this explanation robot arm cannot arrive target position
Put.
Although it is relatively time-consuming to complete above-mentioned paths planning method ratio, we can use high in the clouds process or
GPU parallel computation to solve this problem, thus reduces the sluggishness of user's gesture and manipulator motion.
Mechanical arm can generate motion feasibility assessment value in autokinetic movement planning process, and (this value is the highest, machinery
The possibility that arm obtains feasible path is the highest), together with environmental map and binocular real-time video, this
Several information are processed by the real-time user side that is transferred to, and user is then according to the information after processing, real
Time adjustment arm posture, in order to smoothly complete task.In order to ensure the real-time of video, we will
Use after H.264 video being compressed, then be transmitted.
3. the system integration:
Fig. 3 show system integration schematic diagram.
Whole system is divided into main control computer (inserted computer and the airborne computer of service robot) by us
With ancillary equipment (OculusRift, LeapMotion and service robot hardware's system).Below with regard to this
The realization of a little systems is described in detail:
Inserted computer we can be selected for CubieBoard, it is that a kind of comparison is powerful but cost is the lowest
Mini type PC, it uses domestic full intelligence A20 of high-performance cpu chip (to be configured to Arm Cortex A7
Duo-Core Architecture and Arm Mali400MP2GPU, 1GDDR480M), support Wifi, gigabit ether
Net, USB, SATA hard disc etc., most importantly it supports H.264 coding and decoding video, greatly
The real-time Transmission facilitating far-end video.Flow through through the video H.264 compressed from service robot
Cross network to be transferred on CubieBoard, be decoded.In order to realize the control of REMOTE MACHINE people,
Cubieboard obtains the 3 d pose of user's gesture from peripheral hardware LeapMotion and resolves, and is formed
After the simple simulation video of the control instruction corresponding with gesture and three-dimension gesture, simulation video and decoding
Binocular video merge after be directly output to OculusRift and show, control instruction then passes through base
Websocket connection in Autobahn network service storehouse is transferred on the airborne computer of REMOTE MACHINE people,
Sensing data and the status information of robot are transferred on cubieboard also by this connection.In order to
Realizing being similar to the feedback function of force feedback equipment, we have employed the mode of analog simulation, by
Cubieboard is according to the virtual staff free space image of the feedback of status data genaration of robot defeated
Enter and show to 3D glasses, replace the actual mechanics perception of staff with the visual experience of this emulation,
The balance of good cost and experience sense can be obtained.
Service robot end realizes autokinetic movement planning, environment sensing and the control of robot of robot,
Its airborne computer requires have the strongest CPU, GPU and the biggest memory headroom.Due to server
The general volume of device people is relatively big, can bear relatively large load, thus we select high performance notebook or
The desk-top mainboard of person realizes airborne computer.On the airborne computer of robotic end, mainly run such as lower mold
Block: system obtains the video at service robot the first visual angle from binocular camera, through H.264 pressing
After contracting, it is transferred to user side cubieboard master by the video flowing under RTSP (real-time streaming protocol)
On machine；Mechanical arm autokinetic movement planning algorithm module obtains robot from user side and controls target, simultaneously
Read heat transfer agent from robot hardware's sensor to process, finally cook up the most feasible machinery
Arm path, exports and drives manipulator motion in robot hardware, and the status information of robot is led to
Cross network and be transferred to user, make a policy for user.
The network communication of airborne computer is as user side main frame, and its video flowing and control information are respectively
Realize by RTSP and Websocket agreement.Additionally, the main frame at network two ends all uses Ubuntu
Operating system, there is not patent problem for increasing income in it.Use that robot field's is well-known for convenience
Algorithms library (such as SLAM, path planning etc.), we also will install on operation robot base and write
The software middleware ROS (i.e. robot operating system) of name.
Above content is to combine concrete preferred embodiment further description made for the present invention,
It cannot be assumed that the present invention be embodied as be confined to these explanations.For the technical field of the invention
Those of ordinary skill for, without departing from the inventive concept of the premise, it is also possible to make some letters
Single deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (8)
1. the higher-dimension mechanical arm teleoperation method for service robot, it is characterised in that: include gesture recognition, immersion virtual 3D glasses, the flush bonding processor of band router and service robot；Gesture recognition, is responsible for identifying the gesture of user and obtaining the three-dimensional coordinate of hand, the gesture of these users and the three-dimensional coordinate information of acquisition hand constitute the control input of remote tele-operation, for 4DOF controlled quentity controlled variable；Immersion virtual 3D glasses, are responsible for display emulation gesture and service the first Viewing-angle information of robot；Flush bonding processor, it is responsible for the input that controls of user side is passed to the service robot of far-end, and the environment sensing data of service robot are passed back from far-end, generate the image of virtual staff and free space after process, after this image and binocular visual fusion, be input in immersion virtual 3D glasses display in the lump；The service-delivery machine artificial tasks carrying mechanism of far-end, is provided with mechanical arm and the service robot body of the higher-dimension free degree, and service-delivery machine human body is provided with sensor, and sensor includes depth transducer and binocular vision system；
Mechanical arm uses autokinetic movement planing method, and this planing method is by the robot autonomous operation of remote service, and this autokinetic movement planing method is a kind of paths planning method based on sampling, and its flow process is as follows:
Step a: depth transducer obtains the three-dimensional information of service robot operating environment and sets up surrounding three-dimensional map, generate the state space needed for path planning the most on this map, including free space, Obstacles and control space, provide initial position and target location simultaneously；
Step b: set up motion structure tree, for preserving the legal motion in planning process；
Step c: the motion control amount of random given mechanical arm, by kinematics and the dynamics of integrated machine mechanical arm, calculates under this controlled quentity controlled variable effect, and mechanical arm is at the prediction pose of next update cycle；
Step d: judging the legitimacy of prediction pose, if this pose is in free space, it is legal to be, and goes to step e, is otherwise judged to illegal, goes to step c and again predict；
Step 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 arriving target location；Combine kinematics and the dynamics of mechanical arm finally by the controlled quentity controlled variable in motion structure tree, generate final path；
Step f: if generating final path, then utilize simple pid algorithm to control service robot and follow path motion；If not finding path, this explanation mechanical arm cannot arrive target location.
A kind of higher-dimension mechanical arm teleoperation method for service robot the most according to claim 1, it is characterised in that: the gesture of described gesture recognition identification user is for Guan Bi or opens both gestures.
A kind of higher-dimension mechanical arm teleoperation method for service robot the most according to claim 1, it is characterized in that: described gesture recognition uses motion-captured device Leap Motion, immersion virtual 3D glasses use OculusRift, and flush bonding processor uses mini development board.
A kind of higher-dimension mechanical arm teleoperation method for service robot the most according to claim 1, it is characterised in that: the mechanical arm of the higher-dimension free degree is more than 6DOF or 7 frees degree.
A kind of higher-dimension mechanical arm teleoperation method for service robot the most according to claim 1, it is characterized in that: in step a, depth transducer obtains the three-dimensional information of service robot operating environment and sets up surrounding three-dimensional map by Octree map building method.
A kind of higher-dimension mechanical arm teleoperation method for service robot the most according to claim 1, it is characterized in that: complete autokinetic movement planing method and use high in the clouds to process or GPU parallel computation, mechanical arm can generate motion feasibility assessment value in autokinetic movement planning process, together with environmental map and binocular real-time video, these several information are processed by the real-time user side that is transferred to, user is then according to the information after processing, real-time adjustment mechanical arm posture.
A kind of higher-dimension mechanical arm teleoperation method for service robot the most according to claim 1, it is characterised in that: service robot end realizes autokinetic movement planning, environment sensing and the control of service robot of service robot.
A kind of higher-dimension mechanical arm teleoperation method for service robot the most according to claim 1, it is characterised in that: flush bonding processor selects mini type PC.
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