CN104552295A - Man-machine skill transmission system based on multi-information fusion - Google Patents
Man-machine skill transmission system based on multi-information fusion Download PDFInfo
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- CN104552295A CN104552295A CN201410810610.8A CN201410810610A CN104552295A CN 104552295 A CN104552295 A CN 104552295A CN 201410810610 A CN201410810610 A CN 201410810610A CN 104552295 A CN104552295 A CN 104552295A
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
The invention discloses a man-machine skill transmission system based on multi-information fusion. The man-machine skill transmission system comprises a computer connected with a robot, a sensor mounting bracket, and a somatosensory sensor, a binocular vision camera, a human body electromyographic signal acquisition instrument, a man-machine skill transmission adjusting interface and a monitoring display which are connected with the computer respectively, wherein the somatosensory sensor, the binocular vision camera, the human body electromyographic signal acquisition instrument and the man-machine skill transmission adjusting interface are mounted on the sensor mounting bracket respectively; the human body electromyographic signal acquisition instrument is connected with a human body by a measurement electrode; the somatosensory sensor is arranged on a joint of the human body. According to the system, man-machine interaction of a service robot is sufficient and diversified control policies are provided; a plurality of sensors are convenient to mount and the investment cost is remarkably reduced.
Description
Technical field
The present invention relates to intelligent robot study and control field, particularly a kind of man-machine technical ability transmission system based on Multi-information acquisition.
Background technology
Service robot technology development in recent years is rapid, is day by day subject to people and payes attention to.Compared with traditional industrial robot, people's daily life served by service robot, thus with people closer to, requiring must safety with service robot man-machine interaction, reliable and stable.Simultaneously due to Man's Demands diversity, require that service robot has class people behavioral trait flexibly.It is a kind of convenient that the characteristic of above-mentioned service robot and the expectation of people to service robot impel researcher to find, simple and easy, the human-computer interaction technology that stable and cost is low, namely can realize the stable delivery of technical ability to service robot of people, make service robot better serve popular real life.
China's publication number: CN 103302668A, title: based on control system and the method thereof of the Space teleoperation robot of Kinect.The method realizes the crawl work to space object based on Kinect, but in people's real life, more by fulfiling assignment based on impedance Control, user cannot be made to understand the practical operation situation of robot in real time only by Kinect remote operating, also well cannot complete some complicated meticulous work.Thus more sensor information fusion is needed to carry out more these deficiencies of foot.
China publication number: CN202471117U, title: mounting frame for sensor.The installation of sensor adopts perforating to be fixed on main support, the installation method of this mode needs to offer installing hole, bring certain problem, as inconvenient in located adjustment, the sky offered reduces the intensity of main support, if any positioning requirements, can cause certain agitation error by ectocine, this support Design lacks the fixed mechanism of position adjustment flexibly in addition, is not suitable for having certain requirements experimental occasions to precision.
China publication number: CN202676197U, title: sensor stand.This support Design is scalable, adopts screw-driven.But in large scale position adjustments occasion, this design needs to increase reach, and bring certain difficulty to processing, regulated efficiency can reduce greatly in addition.And lack necessary detent mechanism, when after thread abrasion, bring certain interference can to the location of sensor.
In addition along with the progress of technology, increasing sensor is used for the service field of robot, as binocular vision, and body propagated sensation sensor, touch sensor etc.These sensor installation accuracy cause many harmful effects by the effect of service, as synchronously man-machine in realized, man-machine interaction distortion etc.; In addition due to market upper sensor wide variety, need different sensor mounting interfaces, and the interface of most criteria of right and wrong, need customized separately, bring inconvenience to experimental debugging, spend suitable time and funds.Existing vision sensor is fixed on the crossbeam in wall or room more, and during installation fee, effort, needs technical professional to hole sometimes.As fixing experiment porch, these sensors are fixed on these positions may can not affect normal experimental duties, but once because ambient influnence is as illumination, vibration etc. causes sensor accuracy to decline, at this moment need manually to revise sensor alignment error, obviously the not convenient increase causing adjustment difficulty owing to installing, in addition when needs increase number of sensors or kind, the drawback of the deficient extensibility of traditional installation method is more apparent.In addition some experimental occasions is not suitable for drill hole on wall or lifting operation, as comparatively spacious area or house wiring too much, construction easily causes the generation of contingency.
Summary of the invention
The object of the invention is to overcome the shortcoming of prior art and deficiency, a kind of man-machine technical ability transmission system based on Multi-information acquisition is provided.
Object of the present invention is realized by following technical scheme:
A kind of man-machine technical ability transmission system based on Multi-information acquisition, comprise the computer be connected with robot, mounting frame for sensor, and the body propagated sensation sensor be connected with computer respectively, binocular vision camera, human body electromyographic signal collection instrument, man-machine technical ability transmission adjustment interface, monitor display, described body propagated sensation sensor, binocular vision camera, human body electromyographic signal collection instrument, man-machine technical ability transmission adjustment interface is arranged on mounting frame for sensor respectively, described human body electromyographic signal collection instrument is connected with human body by measurement electrode, described body propagated sensation sensor is arranged on human synovial place.
The described man-machine technical ability transmission system based on Multi-information acquisition, also comprises the force snesor be fixed on handle.Force snesor is fixed on handle, user by applying different power on the different directions of space, the increment of the power passed through estimates that the impedance of human synovial is as rigidity, damping increment, add the accuracy of impedance estimation and the security of man-machine interaction, avoid because man-robot impedance information does not mate the dangerous accident caused.
The described man-machine technical ability transmission system based on Multi-information acquisition, realizes various modes and carries out human-computer interactive control strategy: myoelectricity control strategy, myoelectricity-body sense control strategy, body sense control strategy, myoelectricity-body sense-Visual Feedback Control strategy, body sense-Visual Feedback Control strategy, myoelectricity-Visual Feedback Control strategy.
Described myoelectricity control strategy is specially: gather human body electromyographic signal by electromyographic signal collection instrument, the increment of amplitude increment wherein as human synovial impedance is extracted through process, thus the impedance of acquisition physical activity is planned and is realized the transmission of behavioral trait to robot of people by the impedance control module of robot, makes robot have the impedance characteristics of planning of people.
Described myoelectricity control strategy comprises the step of following order:
S1. the own surface electromyogram signal of user's collection, records corresponding electromyographic signal applied force simultaneously and adopts 20-500Hz bandpass filter to carry out pretreatment to signal and 50Hz notch filter to signal;
S2. adopt AF-FM algorithm to carry out feature extraction to signal, extracting cycle is 0.1s, obtains signal amplitude envelope curve;
S3. the increment of computing power and the surface electromyogram signal amplitude increment of correspondence, utilizes the coefficient of the linear approximate relationship settling signal of electromyographic signal and force signal to estimate and impedance estimation;
S4. by the impedance control module of robot, the data transfer mode of TCP or UDP is adopted to realize the transmission of technical ability to robot of people.
Described myoelectricity-body sense control strategy is: on myoelectricity control strategy basis, introduces body propagated sensation sensor, is obtained the position of human synovial, the information such as speed by body propagated sensation sensor, by controlling while the impedance Control Interface realization impedance of robot and position.
Described body sense control strategy is: only by body propagated sensation sensor, obtains human body joint motion information and carries out man-machine interaction.
Whether described myoelectricity-body sense-Visual Feedback Control strategy is: at myoelectricity-body sense control strategy, visual feedback is introduced on basis, mated, and adjust in real time by binocular camera real-time monitored robot behavior with the behavior of people.Myoelectricity-body sense-Visual Feedback Control strategy is adopted to reach safety, accurate human-computer interactive control object.
Described body sense-Visual Feedback Control strategy is: on body sense control strategy basis, introduce visual feedback, makes the behavior of people consistent with robot behavior height.
Described myoelectricity-Visual Feedback Control strategy is: on myoelectricity control strategy basis, introduce visual feedback, and the change being convenient to user's environment according to robot adjusts self behavior in time, corrects the behavior of robot.Myoelectricity-Visual Feedback Control strategy makes robot stabilized, reliability service.
Compared with prior art, tool has the following advantages and beneficial effect in the present invention:
1, the invention provides one based on the man-machine technical ability transmission system of Multi-information acquisition, system sensor positioning precision is high, reliable and stable, system modular degree is high, volume is little, easy to operate, low cost of manufacture, can overcome that conventional stent installation accuracy is low, interface does not mate, sensor installs by problems such as limited space, input cost are high and control system is simple, control model is various.
2, system of the present invention, service robot human-machine interactive information is abundant, control strategy is various, and multisensor is easy for installation, input cost significantly reduces.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of man-machine technical ability transmission system based on Multi-information acquisition of the present invention;
Fig. 2 is for the system described in Fig. 1 is based on surface electromyogram signal impedance increment estimation principle figure;
Fig. 3 always schemes for the system myoelectricity described in Fig. 1-body propagated sensation sensor-binocular vision control strategy;
Fig. 4 is the system surfaces electromyographic signal process chart described in Fig. 1;
The sensor support structure schematic diagram that Fig. 5 is the system described in Fig. 1;
The structural representation of the binocular camera visual angle fine setting rotary joint that Fig. 6 is the system described in Fig. 1;
The structural representation of the body propagated sensation sensor visual angle fine setting rotation platform that Fig. 7 is the system described in Fig. 1.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
A kind of based on the man-machine technical ability transmission system of Multi-information acquisition, be made up of body propagated sensation sensor, binocular vision camera, human body electromyographic signal collection instrument, man-machine technical ability transmission adjustment interface, monitor display, sensor support support.System sensor is fixed on the adjustable platform support of three-dimensional, user gathers the electromyographic signal of self by electromyographic signal collection instrument, extract impedance information wherein, the movable information of self is extracted by body propagated sensation sensor, through man-machine technical ability transmission adjustment interface, above-mentioned information is assessed, then robot is transferred to by motion planning and robot control interface, complete the technical ability of people to robotic delivery, binocular vision sensor is as feedback element, make user control robot running status in real time, guarantee accuracy and the security of service.Whole system framework as shown in Figure 1.
This system has following subsystem to form: surface electromyogram signal measures adjustment System: be made up of measurement electrode and electromyographic signal collection instrument, this system carries out On-line Estimation by the electromyographic signal recorded to human synovial impedance information, thus obtain the value of human synovial impedance and the impedance planning of corresponding actions, and be mapped on robot body.
Body motion information measuring system: obtain human body joint motion information by body propagated sensation sensor, is mapped to robot after adjustment.
Vision feedback system: by the Real-time Feedback of binocular camera, makes user understand the ruuning situation of robot in time, improves accuracy and the security of service.
Wherein, the adjusting stage of surface electromyogram signal measurement adjustment System adopts force snesor to merge with electromyographic signal the joint impedance information extracted under the different behavior of human body.Force snesor is fixed on handle, user by applying different power on the different directions of space, the increment of the power passed through estimates that the impedance of human synovial is as rigidity, damping increment, add the accuracy of impedance estimation and the security of man-machine interaction, avoid because man-robot impedance information does not mate the dangerous accident caused.
Human body impedance increment estimates flow process as shown in Figure 2, its concrete steps are: stick myoelectricity acquisition electrode on the muscle skin surface of user's arm relevant position, obtain original electromyographic signal by the muscles of the arm motion, obtain the power that produces of arm muscles by force snesor simultaneously.Original electromyographic signal waits process to obtain its amplitude envelope and increment after filtering, obtains the power increment under the same sampling time simultaneously.Obtain corresponding stiffness coefficient through human muscle's stiffness coefficient assessment interface, thus obtain the incremental stiffness of articular muscle.
Signal processing flow as shown in Figure 4.This handling process divides following several stages:
(1) pretreatment, this stage mainly completes the filtering process of electromyographic signal, obtains the electromyographic signal of corresponding frequencies scope and removes the interference of ambient noise;
(2) signal subsection, this stage is according to the windowing process of the main settling signal of the minimal time delay of real-time control system;
(3) signal decomposition, each signal subsection divides five sub-bandwidth according to FIR filter;
(4) according to the amplitude envelope of the Energy Decomposition algorithm acquisition electromyographic signal of Teager;
(5) sequence is level and smooth, utilizes 21 mean filters to remove the burr of amplitude envelope;
(6) space-time is average, is mainly divided into two stages, i.e. time average and space average.The former amplitude fluctuations in smoothingtime sequence, the latter is used for the smoothing processing between different passage.
Body motion information measuring system: obtain human body joint motion information by body propagated sensation sensor, be mapped on robot body by inverse kinematics, robot is made to complete some complexity by teaching, highly difficult task, improve the convenience of man-machine interaction, reduce algorithm complex, and extend man-machine interaction mode.
Vision feedback system: for user provides teaching operation feedback intuitively, add reliability and the controllability of service robot teaching operation.Sensor adopts binocular vision camera, is connected on man-machine interaction support, its base adjustable field of view angle, is convenient to obtain good visual effect.
The man-machine technical ability transmission system of described service robot Multi-information acquisition, this system can realize various modes and carry out human-computer interactive control strategy:
Myoelectricity control strategy;
Myoelectricity-body sense control strategy;
Body sense control strategy;
Myoelectricity-body sense-Visual Feedback Control strategy;
Body sense-Visual Feedback Control strategy;
Myoelectricity-Visual Feedback Control strategy.
Described myoelectricity control strategy is: gather human body electromyographic signal by electromyographic signal collection instrument, the increment of amplitude increment wherein as human synovial impedance is extracted through process, thus the impedance of acquisition physical activity is planned and is realized the transmission of behavioral trait to robot of people by robot impedance control module, makes robot have the impedance characteristics of planning of people.
Described myoelectricity-body sense control strategy is: on myoelectricity control strategy basis, introduces body propagated sensation sensor, is obtained the position of human synovial, the information such as speed by body propagated sensation sensor, by controlling while robot impedance Control Interface realization impedance and position.
Described body sense control strategy is: simple by body propagated sensation sensor, obtains human body joint motion information and carries out man-machine interaction.
Described myoelectricity-body sense-Visual Feedback Control strategy is: at myoelectricity-body sense control strategy, visual feedback is introduced on basis, whether mated with the behavior of people by binocular camera real-time monitored robot behavior, and carry out real-time adjustment, reach safety, accurate human-computer interactive control object.As Fig. 3, user obtains its arm motion information by body propagated sensation sensor and passes to service robot in real time, makes service robot perform corresponding task according to the motion intention of people, is obtained the tasks carrying situation of service robot by binocular vision feedback in real time.At impedance Control end, user is by being obtained from skill arm surface electromyogram signal, information fusion through force snesor and myoelectricity Acquisition Instrument carries out incremental stiffness assessment, obtains rigidity metewand, realizes the impedance Control of service robot through Dynamic Models of Robot Manipulators and Torque Control interface.User also obtains the force feedback of robot in task implementation in real time by force snesor.
Described body sense-Visual Feedback Control strategy is: on body sense control strategy basis, introduce visual feedback, makes the behavior of people consistent with robot behavior height.
Described myoelectricity-Visual Feedback Control strategy is: on myoelectricity control strategy basis, introduce visual feedback, and the change being convenient to user's environment according to robot adjusts self behavior in time, corrects the behavior of robot, makes robot stabilized, reliability service.
Multi-information acquisition system, by motion interface system, information fusion sensor as aforementioned obtained, to this system, completes service.
Described myoelectricity control strategy key step is as follows:
Step 1: the surface electromyogram signal of user's collection own, records corresponding electromyographic signal applied force simultaneously and adopts 20-500Hz bandpass filter to carry out pretreatment to signal and 50Hz notch filter to signal;
Step 2: adopt AF-FM algorithm to carry out feature extraction to signal, extracting cycle is 0.1s, obtains signal amplitude envelope curve;
Step 3: the increment of computing power and corresponding surface electromyogram signal amplitude increment, utilizes the coefficient of the linear approximate relationship settling signal of electromyographic signal and force signal to estimate and impedance estimation;
Step 4: by man-machine impedance Control interface, adopts the data transfer mode of TCP or UDP to realize the transmission of technical ability to robot of people.
As Fig. 5,6,7, sensor stand is made up of base 1, balanced adjustment bar 2, balance connector 3, height adjusting link 4, corner connector 5, visual angle adjusting lever 6, binocular camera 7, visual field adjustment platform 8, body propagated sensation sensor 9, body propagated sensation sensor turntable 10, mounting frame for sensor 11.Connection between aluminium section bar all adopts dismountable corner connector, is convenient to dismounting and adjustment.The height adjustable of balanced adjustment bar, length direction is adjustable, is convenient to keep the stable of whole framework and Appropriate application space.Visual angle adjusting lever and sensor support frame height adjustable, be convenient to adjust visual field.
Height adjusting link 4 is by screw and be tightly fixed on base 1, and height adjusting link 4 is connected by corner connector with balanced adjustment bar 2, makes it not to be moved by external force affects, and improves the balance of height adjusting link; Balance connector 3 connects balanced adjustment bar 2 and testing stand bracing frame by screw fastening, reaches the object of balance; Visual angle adjusting lever 6 is connected by corner connector 5 and height adjusting link 4, simultaneously connecting sensor mounting bracket 11, and mounting frame for sensor 11 is provided with all types of sensor mechanism joint visual field adjustment platforms 8 and body propagated sensation sensor turntable 10 above; Visual field adjustment platform 8 is connected with binocular camera 7 by top flange dish, and body propagated sensation sensor 9 is connected by its top flange with body propagated sensation sensor turntable 10.
Balance connector 3 can according to testing stand, and the height of operating desk etc. regulates the position of self, makes it reach center rest, reduces the object of usage space.This support triangle base can move simultaneously, makes it be in desirable position.
Visual field adjustment platform 8 is connected with binocular camera 7 by top flange dish, can elevating movement, finely tunes the visual angle of camera.Visual field adjustment platform 8 rotary joint be threaded connection formed fastening.Mounting frame for sensor 11 freely can adjust the distance of self and testee on visual angle adjusting lever 6 length direction, plays focusing action.Visual field adjustment platform 8 and body propagated sensation sensor turntable 10 can pass through slide block on mounting frame for sensor 11 length direction, and slide block can also be fastenedly connected by screw and mounting frame for sensor 11, play location maintenance effect.Visual angle adjusting lever 6 freely can adjust oneself height on height adjusting link 4 length direction, the size at adjustment visual angle.
As Fig. 6, visual field adjustment platform 8 is revolutes, connects binocular camera 7 by dynamic boss 12, determine boss 13 connecting sensor support 11, after camera 7 adjusts attitude, tighten by screw bolt and nut, until this revolute can not be rotated under certain External Force Acting.
Body propagated sensation sensor turntable 10 is made up of three parts, moving platform 14, rotating shaft 15 and the flange 16 be connected with sensor stand 11, moving platform 14 can do 360 degree of rotations by rotating shaft 15, and positioned by holding screw, stablizing of holder propagated sensation sensor, is not subject to the impact of ambient vibration and maloperation.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. the man-machine technical ability transmission system based on Multi-information acquisition, it is characterized in that: comprise the computer be connected with robot, mounting frame for sensor, and the body propagated sensation sensor be connected with computer respectively, binocular vision camera, human body electromyographic signal collection instrument, man-machine technical ability transmission adjustment interface, monitor display, described body propagated sensation sensor, binocular vision camera, human body electromyographic signal collection instrument, man-machine technical ability transmission adjustment interface is arranged on mounting frame for sensor respectively, described human body electromyographic signal collection instrument is connected with human body by measurement electrode, described body propagated sensation sensor is arranged on human synovial place.
2. the man-machine technical ability transmission system based on Multi-information acquisition according to claim 1, is characterized in that: the described man-machine technical ability transmission system based on Multi-information acquisition, also comprises the force snesor be fixed on handle.
3. the man-machine technical ability transmission system based on Multi-information acquisition according to claim 1, is characterized in that: this system realizes various modes and carries out human-computer interactive control strategy: myoelectricity control strategy, myoelectricity-body sense control strategy, body sense control strategy, myoelectricity-body sense-Visual Feedback Control strategy, body sense-Visual Feedback Control strategy, myoelectricity-Visual Feedback Control strategy.
4. the man-machine technical ability transmission system based on Multi-information acquisition according to claim 3, it is characterized in that: described myoelectricity control strategy is specially: gather human body electromyographic signal by electromyographic signal collection instrument, the increment of amplitude increment wherein as human synovial impedance is extracted through process, thus the impedance of acquisition physical activity is planned and is realized the transmission of behavioral trait to robot of people by the impedance control module of robot, makes robot have the impedance characteristics of planning of people.
5. the man-machine technical ability transmission system based on Multi-information acquisition according to claim 4, is characterized in that: described myoelectricity control strategy comprises the step of following order:
S1. the own surface electromyogram signal of user's collection, records corresponding electromyographic signal applied force simultaneously and adopts 20-500Hz bandpass filter to carry out pretreatment to signal and 50Hz notch filter to signal;
S2. adopt AF-FM algorithm to carry out feature extraction to signal, extracting cycle is 0.1s, obtains signal amplitude envelope curve;
S3. the increment of computing power and the surface electromyogram signal amplitude increment of correspondence, utilizes the coefficient of the linear approximate relationship settling signal of electromyographic signal and force signal to estimate and impedance estimation;
S4. by the impedance control module of robot, the data transfer mode of TCP or UDP is adopted to realize the transmission of technical ability to robot of people.
6. the man-machine technical ability transmission system based on Multi-information acquisition according to claim 3, it is characterized in that: described myoelectricity-body sense control strategy is: on myoelectricity control strategy basis, introduce body propagated sensation sensor, the position of human synovial is obtained by body propagated sensation sensor, velocity information, by controlling while the impedance Control Interface realization impedance of robot and position.
7. the man-machine technical ability transmission system based on Multi-information acquisition according to claim 3, is characterized in that: described body sense control strategy is: only by body propagated sensation sensor, obtains human body joint motion information and carries out man-machine interaction.
8. the man-machine technical ability transmission system based on Multi-information acquisition according to claim 3, it is characterized in that: described myoelectricity-body sense-Visual Feedback Control strategy is: at myoelectricity-body sense control strategy, visual feedback is introduced on basis, whether mated with the behavior of people by binocular camera real-time monitored robot behavior, and adjust in real time.
9. the man-machine technical ability transmission system based on Multi-information acquisition according to claim 3, it is characterized in that: described body sense-Visual Feedback Control strategy is: on body sense control strategy basis, introduce visual feedback, makes the behavior of people consistent with robot behavior height.
10. the man-machine technical ability transmission system based on Multi-information acquisition according to claim 3, it is characterized in that: described myoelectricity-Visual Feedback Control strategy is: on myoelectricity control strategy basis, introduce visual feedback, the change being convenient to user's environment according to robot adjusts self behavior in time, corrects the behavior of robot.
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