CN105313129A - Video-based robot walking motion control method and video-based robot walking motion control device - Google Patents
Video-based robot walking motion control method and video-based robot walking motion control device Download PDFInfo
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- CN105313129A CN105313129A CN201510876833.9A CN201510876833A CN105313129A CN 105313129 A CN105313129 A CN 105313129A CN 201510876833 A CN201510876833 A CN 201510876833A CN 105313129 A CN105313129 A CN 105313129A
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Abstract
The invention relates to the field of robot motion control, and particularly relates to a video-based robot walking motion control method and a video-based robot walking motion control device. The invention provides a control method and a control device with regard to problems existing in the prior art. Through viewing the video pictures of a robot on a mobile terminal, control for the robot is more intuitive and simpler in a visible range or an invisible range, without the need of additional remote control equipment. According to the invention, the mobile terminal sends a control command to a robot drive controller through a robot control system according to the relationship between |X2-X1| and |Y2-Y1|, and in combination with the relationship between X2 and X1 or the relationship between Y2 and Y1, robot walking control is carried out through the robot drive controller, and the robot immediately stops motion after a collision case.
Description
Technical field
The present invention relates to motion planning and robot control field, especially a kind of robot ambulation motion control method based on video and device.
Background technology
At present, robot research and related industry are worldwide flourish, along with the arrival in industrial 4.0 epoch, and country is to the A clear guidance of new high-tech industry especially Robot industry, and Chinese robot research and related industry will one of the focuses becoming future development.
The control method of robot motion generally can be divided into line traffic control and controlled in wireless.Controlled in wireless can be divided into again the control of visual range and non-visual range.The control of non-visual range needs the ambient condition judging robot by video pictures.No matter which kind of mode, the controlled in wireless mode of existing robot all needs a remote control equipment, and this is that the control operation of robot motion brings certain limitation.
Summary of the invention
Technical problem to be solved by this invention is: for prior art Problems existing, provides a kind of robot ambulation motion control method based on video and device.Provide one and check robot video pictures on the mobile terminal such as PAD or mobile phone, and on video, operate method and the device of control walking movement, be in visual range or not visible scope all by make the control of robot more intuitively, more simple, and no longer need extra remote control equipment.
The technical solution used in the present invention is as follows:
A kind of robot ambulation motion control device based on video comprises:
A kind of robot ambulation motion control method based on video comprises:
Step 1: mobile terminal and robot control system are set up socket and communicated to connect, the video pictures of robot camera collection is corresponding with mobile terminal video picture geometric ratio, described mobile terminal video picture width W and high H, mobile terminal video picture top left co-ordinate is (0,0), mobile terminal video lower right angular coordinate is (W, H); Robot maximum linear movement velocity V, maximum rotation angular velocity omega; W refers to the length of horizontal direction; H refers to the length with horizontal direction vertical direction;
Step 2: point and operate in the enterprising line slip of mobile terminal video picture and pin mobile terminal screen, obtain slip origin coordinates P1 (X1, Y1) and stop coordinate P2 (X2, Y2), to slide into P2 to the time period of unclamping mobile terminal screen be T to meter; According to | X2-X1| and | the relation of Y2-Y1|, in conjunction with the relation of X2 and X1 or the relation of Y2 and Y1, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, until robot collides after situation, robot is stop motion immediately.
Further, basis in described step 2 | X2-X1| and | the relation of Y2-Y1|, in conjunction with the relation of X2 and X1 or the relation of Y2 and Y1, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, until robot collides after situation, robot immediately stop motion specifically comprises:
Step 21: if | X2-X1| >=| Y2-Y1|, then perform step 22; If | X2-X1|<|Y2-Y1|, performs step 23;
Step 22: if X2-X1>0, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, robot is turned right, velocity of rotation be ω × | X2-X1|/W,, revolute's time span is T; If X2-X1<0, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, robot is turned left, velocity of rotation be ω × | X2-X1|/W, revolute's time span is T.
Step 23: if Y2-Y1<0, robot walks forward, the speed of travel be V × | Y2-Y1|/H; If Y2-Y1>0, robot retreats backward, the speed of travel be V × | Y2-Y1|/H.Robot ambulation time span is T.
A kind of robot ambulation motion control device based on video comprises:
Robot control system, communicates to connect for setting up socket with mobile terminal;
Mobile terminal, communicate to connect for setting up socket with robot control system, the video pictures of robot camera collection is corresponding with mobile terminal video picture geometric ratio, described mobile terminal video picture width W and high H, mobile terminal video picture top left co-ordinate is (0,0), mobile terminal video lower right angular coordinate is (W, H); Robot maximum linear movement velocity V, maximum rotation angular velocity omega; W refers to the length of horizontal direction; H refers to the length with horizontal direction vertical direction; When finger operates in the enterprising line slip of mobile terminal video picture and pins mobile terminal screen, obtain slip origin coordinates P1 (X1, Y1) and stop coordinate P2 (X2, Y2), to slide into P2 to the time period of unclamping mobile terminal screen be T to meter; According to | X2-X1| and | the relation of Y2-Y1|, in conjunction with the relation of X2 and X1 or the relation of Y2 and Y1, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, until robot collides after situation, robot is stop motion immediately.
Further, described basis | X2-X1| and | the relation of Y2-Y1|, in conjunction with the relation of X2 and X1 or the relation of Y2 and Y1, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, until robot collides after situation, robot immediately stop motion specifically comprises:
Step 21: if | X2-X1| >=| Y2-Y1|, then perform step 22; If | X2-X1|<|Y2-Y1|, performs step 23;
Step 22: if X2-X1>0, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, robot is turned right, velocity of rotation be ω × | X2-X1|/W,, revolute's time span is T; If X2-X1<0, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, robot is turned left, velocity of rotation be ω × | X2-X1|/W, revolute's time span is T.
Step 23: if Y2-Y1<0, robot walks forward, the speed of travel be V × | Y2-Y1|/H; If Y2-Y1>0, robot retreats backward, the speed of travel be V × | Y2-Y1|/H.Robot ambulation time span is T.
In sum, owing to have employed technique scheme, the invention has the beneficial effects as follows:
1) video is checked seeming independently function with robot controlling two combines, simple to operate, method is effective;
2) whole screen can be adopted to carry out display video picture, and not need to mark reserved area to make virtual controlling button at screen.
3) the enterprising line slip operation of the video pictures on the display screen of terminal device, control advance, retrogressing, left-hand rotation and right-hand rotation, and judge whether to move to satisfied position by real-time video pictures.
Accompanying drawing explanation
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein:
Fig. 1 horizontally slips during robot motion operates to control dynamic schematic diagram.
Fig. 2 slides up and down during robot motion operates to control forward-reverse schematic diagram.
Detailed description of the invention
All features disclosed in this description, or the step in disclosed all methods or process, except mutually exclusive feature and/or step, all can combine by any way.
Arbitrary feature disclosed in this description (comprising any accessory claim, summary and accompanying drawing), unless specifically stated otherwise, all can be replaced by other equivalences or the alternative features with similar object.That is, unless specifically stated otherwise, each feature is an example in a series of equivalence or similar characteristics.
Robot control system both can transmission of control signals to robot, also can accept video that robotic transfer comes and sensor signal simultaneously, and corresponding process is made to signal.Robot driving governor can accept the signal from control system transmission, also can make corresponding process simultaneously.The camera of robot carries out information gathering, is transferred to control system by video acquisition interface, and mobile terminal and robot control system establish a communications link, just can the video image information of display device people camera collection.
Embodiment one:
Beat PAD and people's power supply of operating machine, PAD starts terminal control software, wirelessly connects robot.Display device head part camera video picture on panel computer.
As described in Figure 1 because | X2-X1|>|Y2-Y1|, and X2-X1>0, robot turns right, velocity of rotation be ω × | X2-X1|/W, rotation time is T.
As described in Figure 2 because | X2-X1|<|Y2-Y1|, and Y2-Y1<0, robot walks forward, the speed of travel be V × | Y2-Y1|/H, travel time is T.
The present invention is not limited to aforesaid detailed description of the invention.The present invention expands to any new feature of disclosing in this manual or any combination newly, and the step of the arbitrary new method disclosed or process or any combination newly.
Claims (4)
1., based on a robot ambulation motion control method for video, it is characterized in that comprising:
Step 1: mobile terminal and robot control system are set up socket and communicated to connect, the video pictures of robot camera collection is corresponding with mobile terminal video picture geometric ratio, described mobile terminal video picture width W and high H, mobile terminal video picture top left co-ordinate is (0,0), mobile terminal video lower right angular coordinate is (W, H); Robot maximum linear movement velocity V, maximum rotation angular velocity omega; W refers to the length of horizontal direction; H refers to the length with horizontal direction vertical direction;
Step 2: point and operate in the enterprising line slip of mobile terminal video picture and pin mobile terminal screen, obtain slip origin coordinates P1 (X1, Y1) and stop coordinate P2 (X2, Y2), to slide into P2 to the time period of unclamping mobile terminal screen be T to meter; According to | X2-X1| and | the relation of Y2-Y1|, in conjunction with the relation of X2 and X1 or the relation of Y2 and Y1, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, until robot collides after situation, robot is stop motion immediately.
2. a kind of robot ambulation motion control method based on video according to claim 1, it is characterized in that basis in step 2 | X2-X1| and | the relation of Y2-Y1|, in conjunction with the relation of X2 and X1 or the relation of Y2 and Y1, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, until robot collides after situation, robot immediately stop motion specifically comprises:
Step 21: if | X2-X1| >=| Y2-Y1|, then perform step 22; If | X2-X1|<|Y2-Y1|, performs step 23;
Step 22: if X2-X1>0, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, robot is turned right, velocity of rotation be ω × | X2-X1|/W,, revolute's time span is T; If X2-X1<0, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, robot is turned left, velocity of rotation be ω × | X2-X1|/W, revolute's time span is T;
Step 23: if Y2-Y1<0, robot walks forward, the speed of travel be V × | Y2-Y1|/H; If Y2-Y1>0, robot retreats backward, the speed of travel be V × | Y2-Y1|/H;
Robot ambulation time span is T.
3., based on a robot ambulation motion control device for video, it is characterized in that comprising:
Robot control system, communicates to connect for setting up socket with mobile terminal;
Mobile terminal, communicate to connect for setting up socket with robot control system, the video pictures of robot camera collection is corresponding with mobile terminal video picture geometric ratio, described mobile terminal video picture width W and high H, mobile terminal video picture top left co-ordinate is (0,0), mobile terminal video lower right angular coordinate is (W, H); Robot maximum linear movement velocity V, maximum rotation angular velocity omega; W refers to the length of horizontal direction; H refers to the length with horizontal direction vertical direction; When finger operates in the enterprising line slip of mobile terminal video picture and pins mobile terminal screen, obtain slip origin coordinates P1 (X1, Y1) and stop coordinate P2 (X2, Y2), to slide into P2 to the time period of unclamping mobile terminal screen be T to meter; According to | X2-X1| and | the relation of Y2-Y1|, in conjunction with the relation of X2 and X1 or the relation of Y2 and Y1, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, until robot collides after situation, robot is stop motion immediately.
4. a kind of robot ambulation motion control device based on video according to claim 3, it is characterized in that described basis | X2-X1| and | the relation of Y2-Y1|, in conjunction with the relation of X2 and X1 or the relation of Y2 and Y1, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, until robot collides after situation, robot immediately stop motion specifically comprises:
Step 21: if | X2-X1| >=| Y2-Y1|, then perform step 22; If | X2-X1|<|Y2-Y1|, performs step 23;
Step 22: if X2-X1>0, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, robot is turned right, velocity of rotation be ω × | X2-X1|/W,, revolute's time span is T; If X2-X1<0, mobile terminal sends control command by robot control system to robot driving governor, robot ambulation control is carried out by robot driving governor, robot is turned left, velocity of rotation be ω × | X2-X1|/W, revolute's time span is T;
Step 23: if Y2-Y1<0, robot walks forward, the speed of travel be V × | Y2-Y1|/H; If Y2-Y1>0, robot retreats backward, the speed of travel be V × | Y2-Y1|/H;
Robot ambulation time span is T.
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| CN108153233A (en) * | 2016-12-06 | 2018-06-12 | 东友科技股份有限公司 | It is remotely controlled the control method of diced system and cutter device |
| CN108401103A (en) * | 2017-02-06 | 2018-08-14 | 佳能株式会社 | Electronic equipment, the control method of electronic equipment and storage medium |
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