CN105014676A - Robot motion control method - Google Patents
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- CN105014676A CN105014676A CN201510383926.8A CN201510383926A CN105014676A CN 105014676 A CN105014676 A CN 105014676A CN 201510383926 A CN201510383926 A CN 201510383926A CN 105014676 A CN105014676 A CN 105014676A
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Abstract
The invention discloses a robot motion control method. The robot motion control method comprises the following steps: detecting an acceleration signal, an attitude signal and an electromyography signal of arm motion by utilizing an Myo arm ring, and transmitting signal data to a computer or an intelligent mobile phone or a tablet personal computer by virtue of Bluetooth; and then, analyzing the signal data and reducing the signal data into hand signals by utilizing procedures on the computer or the intelligent mobile phone or the tablet personal computer, and controlling a motor or a steering engine in a robot system by virtue of a single chip microcomputer. According to the robot motion control method, gesture control is carried out in a bio-electromechanical mode, so that man-machine interaction is friendly, environment noises are not liable to generate interference on the man-machine interaction, the requirements on a processer are relatively low, an extra camera head is not required to mount, the cost is low and the recognition rate is high. Moreover, the used SEMG has the advantages of being non-invasive, noninvasive, simple to operate, and the like on measurement, and has an important practical value on clinical medicine, man-machine ergonomics, rehabilitation medicines, sports science and the like.
Description
Technical field
The present invention relates to robot and biological electro-mechanical arts, particularly relate to a kind of motion planning and robot control method.
Background technology
The research range of robot is boundless, comprises numerous subjects such as machine vision, artificial intelligence, Digital Signal Processing, communication, computer science, sensing and detection, control theory, pattern-recognition.Along with the development of Robotics, its intelligent level is greatly improved, on the one hand robot by replace more widely people be engaged in various machinery repeatedly, the production operation of negative unhealthy and danger, increasing robot enters into average family and helps people on the other hand, looks after old man, the disabled, patient etc. and completes various task.
Electromyographic signal (EMG) is moving cell action potential (MUAP) superposition over time and space in numerous muscle fibre.Surface electromyogram signal (SEMG) is that on superficial muscular EMG and nerve cord, electrical activity, at the comprehensive effect of skin surface, can reflect nervimuscular activity to a certain extent; In measurement, there is Noninvasive, hurtless measure, simple operation and other advantages relative to pin electrode EMG, SEMG.Thus, SEMG all has important practical value in clinical medicine, man-machine efficacy, medical science of recovery therapy and sports science etc.
Robot combines with biology electromechanics, exactly by allowing the bio signal of machine recognition people, and converts corresponding control signal to, finally realizes more friendly man-machine interaction.
Be mostly at present robot the many employings of control mode below several mode: the first, adopt button, remote control, handle etc., this control mode is friendly not in man-machine interaction; The second, Voice command, this mode is higher to environmental requirement, and ambient noise is easy to cause interference to control, and the category of language that can identify is limited; The third, image recognition, visual spatial attention, this control mode requires higher to processor performance, and needs additionally to install camera, and cost is higher, and accuracy also has much room for improvement.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of motion planning and robot control method is provided.
Technical scheme of the present invention is as follows:
A kind of motion planning and robot control method, comprises the steps:
Step (1): be worn on arm by Myo armlet, detects the acceleration signal of arm motion, attitude signal and electromyographic signal by Myo armlet;
Step (2): the signal data that Myo gathers is transferred to computer or smart mobile phone or panel computer by bluetooth;
Step (3): signal data, by the SDK coding of Myo armlet, is resolved and is reduced into the hand signal of user by computer or smart mobile phone or panel computer;
Step (4): hand signal is sent to single-chip microcomputer by computer or smart mobile phone or panel computer;
Step (5): single-chip microcomputer and sensor and motor or steering engine controller are connected, and go to control motor or steering wheel motion, reach the object of control.
Described Myo armlet is provided by Thalmic company.
The beneficial effect that the present invention compared with prior art has: utilize biological electromechanics to carry out gesture control, man-machine interaction is friendly, and ambient noise not easily produces interference to it, also lower to processor requirement, do not need to install extra camera, with low cost, discrimination is high.And the SEMG used has Noninvasive, hurtless measure, simple operation and other advantages in measurement, all has important practical value in clinical medicine, man-machine efficacy, medical science of recovery therapy and sports science etc.
Accompanying drawing explanation
Fig. 1 is motion planning and robot control method schematic diagram;
Fig. 2 is five kinds of gesture schematic diagrames of the present invention.
Detailed description of the invention
A kind of motion planning and robot control method, comprises the steps:
Step (1): be worn on arm by Myo armlet, detects the acceleration signal of arm motion, attitude signal and electromyographic signal by Myo armlet;
Step (2): the signal data that Myo gathers is transferred to computer or smart mobile phone or panel computer by bluetooth;
Step (3): signal data, by the SDK coding of Myo armlet, is resolved and is reduced into the hand signal of user by computer or smart mobile phone or panel computer;
Step (4): hand signal is sent to single-chip microcomputer by computer or smart mobile phone or panel computer;
Step (5): single-chip microcomputer and sensor and motor or steering engine controller are connected, and go to control motor or steering wheel motion, reach the object of control.
Described Myo armlet is provided by Thalmic company.
Present invention also offers a kind of robot movement-control system simultaneously, comprise Myo armlet, signal receiving end, single-chip microcomputer, motor/steering engine controller and motor/steering wheel, Myo armlet is connected with signal receiving end by bluetooth, and signal receiving end is connected with motor/steering wheel with single-chip microcomputer, motor/steering engine controller successively.
The Myo armlet also produced by Thalmic company designs, it comprises 1 nine axle inertial sensor unit, 8 surface myoelectric sensors and a Bluetooth Receiver.Wherein nine axle inertial sensor unit are for detecting arm motion track and orientation, and surface myoelectric sensor is for detecting arm electromyographic signal during different gesture, and Bluetooth Receiver is used for the data communication of Myo and controller.Described robot comprises one and comprehensively turns to four-wheel drive chassis and a lifting structure.Machine people has been the hardware condition of control action, and chassis driving wheel is made up of four steering wheels and four DC brushless motors, and lifting structure is made up of two linear electric motors.
Described Myo armlet is by being connected with controller with bluetooth, and controller is connected with motor by relay, be hand signal and inertial sensor signal be motor message, and then control completes the motion of predetermined action finally by decoding electromyographic signal.
Workflow of the present invention is introduced below by accompanying drawing 1.
Described Myo armlet, comprise 1 nine axle inertial sensor unit (three axis accelerometer, three-axis gyroscope, three axle magnetometers) and 8 surface myoelectric sensors, nine axle inertial sensor unit can detect athletic posture and the acceleration signal of arm, the electromyographic signal of arm when machining surface electric transducer can detect palm and finger motion, and then change into the signal of telecommunication.
Then by bluetooth, above-mentioned arm attitude signal, acceleration signal, electromyographic signal are transferred to computer or mobile phone or panel computer, the SDK of the Myo armlet provided by Thalmic company, these signal decodings are reduced into corresponding hand signal by coding.Set 5 kinds of hand signals (right hand is example) in the present embodiment, as shown in Figure 2, they are respectively middle finger and thumb is double-clicked, clenches fist, opened hand, and palm is brandished left, palm is brandished to the right.
After the procedure identification in computer/mobile phone/panel computer goes out corresponding hand signal, corresponding hand signal can be sent to single-chip microcomputer by wireless or Bluetooth function (computer can adopt data wire to connect) by mobile phone/panel computer, single-chip microcomputer is different according to the hand signal received, control motor and steering engine controller respectively, and then go control motor or steering wheel to go to realize different motion modes.For the artificial example of four-wheel exercise machine, when double-click gesture being detected, represent the people that starts the machine; When a hand gesture being detected, representing and advancing; When detect a left side wave gesture time, represent turn left; When detect the right side wave gesture time, expression bends to right.When detect clench fist gesture time, represent stop robot motion.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. a motion planning and robot control method, is characterized in that comprising the steps:
Step (1): be worn on arm by Myo armlet, detects the acceleration signal of arm motion, attitude signal and electromyographic signal by Myo armlet;
Step (2): the signal data that Myo gathers is transferred to computer or smart mobile phone or panel computer by bluetooth;
Step (3): signal data, by the SDK coding of Myo armlet, is resolved and is reduced into the hand signal of user by computer or smart mobile phone or panel computer;
Step (4): hand signal is sent to single-chip microcomputer by computer or smart mobile phone or panel computer;
Step (5): single-chip microcomputer and sensor and motor or steering engine controller are connected, and go to control motor or steering wheel motion, reach the object of control.
2. a kind of motion planning and robot control method according to claim 1, is characterized in that described Myo armlet is provided by Thalmic company.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510383926.8A CN105014676A (en) | 2015-07-03 | 2015-07-03 | Robot motion control method |
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| CN201510383926.8A CN105014676A (en) | 2015-07-03 | 2015-07-03 | Robot motion control method |
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Cited By (8)
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|---|---|---|---|---|
| CN105943206A (en) * | 2016-06-01 | 2016-09-21 | 上海师范大学 | Prosthetic hand control method based on MYO armlet |
| CN106597923A (en) * | 2016-11-23 | 2017-04-26 | 河池学院 | Multifunctional education robot controller |
| CN106695794A (en) * | 2017-02-20 | 2017-05-24 | 苏州晨本智能科技有限公司 | Mobile machine arm system based on surface myoelectric signal and control method of mobile machine arm system |
| CN107081772A (en) * | 2017-06-19 | 2017-08-22 | 苏州紫金港智能制造装备有限公司 | A kind of robot flexibility Surface Milling producing unit |
| CN107856014A (en) * | 2017-11-08 | 2018-03-30 | 浙江工业大学 | Mechanical arm pose control method based on gesture recognition |
| CN107943283A (en) * | 2017-11-08 | 2018-04-20 | 浙江工业大学 | Mechanical arm pose control system based on gesture recognition |
| CN109199712A (en) * | 2018-10-15 | 2019-01-15 | 郑州大学 | A kind of evaluation and test of intelligent hand motor function and recovery training wheel chair |
| CN111416958A (en) * | 2020-03-17 | 2020-07-14 | 安徽智训机器人技术有限公司 | Industrial robot operation video acquisition method and system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105943206A (en) * | 2016-06-01 | 2016-09-21 | 上海师范大学 | Prosthetic hand control method based on MYO armlet |
| CN106597923A (en) * | 2016-11-23 | 2017-04-26 | 河池学院 | Multifunctional education robot controller |
| CN106695794A (en) * | 2017-02-20 | 2017-05-24 | 苏州晨本智能科技有限公司 | Mobile machine arm system based on surface myoelectric signal and control method of mobile machine arm system |
| CN107081772A (en) * | 2017-06-19 | 2017-08-22 | 苏州紫金港智能制造装备有限公司 | A kind of robot flexibility Surface Milling producing unit |
| CN107081772B (en) * | 2017-06-19 | 2023-05-16 | 苏州紫金港智能制造装备有限公司 | Flexible curved surface milling production device of robot |
| CN107856014A (en) * | 2017-11-08 | 2018-03-30 | 浙江工业大学 | Mechanical arm pose control method based on gesture recognition |
| CN107943283A (en) * | 2017-11-08 | 2018-04-20 | 浙江工业大学 | Mechanical arm pose control system based on gesture recognition |
| CN107943283B (en) * | 2017-11-08 | 2021-02-02 | 浙江工业大学 | Mechanical arm pose control system based on gesture recognition |
| CN109199712A (en) * | 2018-10-15 | 2019-01-15 | 郑州大学 | A kind of evaluation and test of intelligent hand motor function and recovery training wheel chair |
| CN111416958A (en) * | 2020-03-17 | 2020-07-14 | 安徽智训机器人技术有限公司 | Industrial robot operation video acquisition method and system |
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Application publication date: 20151104 |