CN105945947A - Robot writing system based on gesture control and control method of robot writing system - Google Patents
Robot writing system based on gesture control and control method of robot writing system Download PDFInfo
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- CN105945947A CN105945947A CN201610340833.1A CN201610340833A CN105945947A CN 105945947 A CN105945947 A CN 105945947A CN 201610340833 A CN201610340833 A CN 201610340833A CN 105945947 A CN105945947 A CN 105945947A
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- robot
- kinect
- computer
- scara
- control
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Classifications
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40004—Window function, only a specific region is analyzed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40418—Presurgical planning, on screen indicate regions to be operated on
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot control system and a control method of the robot control system, in particular to a robot writing system based on gesture control and a control method of the robot writing system. Human body pose information of an operator is obtained through Kinect by means of a computer, the computer communicates with a SCARA robot based on the Modbus protocol of the Ethernet, and the scene in which the SCARA robot draws the site is obtained through a camera online. By the adoption of the system, the operator can control movement of the SCARA robot in real time in a non-contact natural man-computer interaction manner to make the SCARA robot follow the palm movement locus of the operator online, so that the robot is made to complete the writing and drawing functions, and the robot can also be controlled to wipe off the drawn locus automatically under the necessary condition.
Description
Technical field
The present invention relates to a kind of robot control system and control method thereof, be specially the machine controlled based on gesture
People's writing system and control method thereof.
Background technology
Along with the development of robotics, robot have been widely used for the welding of industrial circle, assembling,
The aspects such as carrying, air brushing.The function that robot writes needs the orbiting motion that robotic arm end edge is specified, all
Many occasions are required for using this function.The motor control of industrial robot can pass through off-line programing and online programming two
The mode of kind realizes.Off-line programing made the track of motion before robot manipulating task, then during operation according to
The orbiting motion specified；Online programming is then while operator formulate movement locus, robot just along
Current track is drawn.
At present, the formulation of robot motion's track mostly is the mode manually arranging tracing point.This programming mode is taken a lot of work
Time-consuming, and the number of tracing point is the most limited, thus track is relatively simple.Additionally, also have by word
Track formulates the track that robot writes, but which can only allow the word track of Robot specific font enter
Row is drawn, and lacks personalization and customization.
Summary of the invention
For above-mentioned technical problem, the present invention provides robot writing system and the control of a kind of personalization and customization
Method processed.
Concrete technical scheme is:
The robot writing system controlled based on gesture, including Kinect, SCARA robot, computer, takes the photograph
As head, router, Kinect, photographic head are connected with computer respectively, and computer is connected with router, calculate
Machine includes display screen；Computer obtains the human body attitude information of operator by Kinect, and by based on ether
The Modbus agreement of net communicates with SCARA robot, uses photographic head to obtain SCARA machine online
The scene at the device people scene of drawing.
Also including display, display is connected with computer, observes images themselves, robot for operator current
Motion conditions, palm track drafting and robot drawing track.
The control method of robot writing system controlled based on gesture, after program starts, first to Kinect and
SCARA robot initializes, and opens the function that Kinect colour information is extracted and bone information extracts, even
Meet the SCARA robot specifying IP, and Computer display interface is initialized；
Then, enter the overall circulation of program, in cyclic process, determined whether erasing, mouse write,
Track drafting file, preservation track mouse event, if having, performing corresponding subprocess, otherwise calling Kinect
Attempt obtaining up-to-date human body attitude；
The information got from Kinect judges currently whether have user attempting gesture manipulation, if having, to carry out pen
Draw parsing, trajectory planning and interface record to process；
When robot motion is controlled by needs, program can be called SCARA robot and control submodule,
Thus complete corresponding action.
Kinect is the said three-dimensional body propagated sensation sensor that Microsoft issues, and it can obtain the image of environment, the degree of depth, audio frequency
Etc. information, and there is the functions such as action extraction, image recognition, speech recognition.User is allowed to pass through body-sensing, voice
Carry out man-machine interaction etc. mode, break away from the constraint that conventional contact is handed over.Kinect relies on three " eyes " to feel
Knowing the three-dimensional image information of environment, wherein colour imagery shot is used for obtaining environment coloured image；Infrared emission camera lens
Harmless iraser is launched in a particular manner to environment；Infrared camera is used for catching the infrared figure in environment
Picture, thus obtain environment depth information.Based on depth information, it is main that Kinect can accurately obtain human body
The locus in joint, thus obtain the attitude information of human body.
Kinect utilizes depth image to obtain skeleton information, and extraction process substantially divides 4 steps:
Human body target detection and segmentation, body part identification, centroid calculation, skeleton model matching.First detect
It is also split from background by human body target in the visual field, thus is only comprised the depth image of human body,
Kinect employs the method for random forest and realizes.Second step then calculates each pixel in human depth's figure and belongs to respectively
In head, neck, hands, etc. the probability at position, then each pixel is classified, and then identifies human depth
Each body part in figure, it is achieved method is similar with the first step.3rd step calculates the barycenter of each body part,
Obtain the three-dimensional coordinate at each position.Final step then carries out smooth output and other special places to each position coordinate
Reason, and it is mated with the skeleton pattern represented based on joint coordinates, finally give and represented by joint coordinates
Bone information
Utilize coloured image can only obtain human body two-dimensional position to the method obtaining human body attitude, and be very easy to be subject to
Illumination, background, the impact of clothes color, accuracy and robustness are the most poor.Owing to depth image can reflect mirror
The locus of each pixel in the head visual field, therefore utilize depth image to can get human body and the three of multiple major joint
Dimension coordinate, and do not affected by factors such as ambient lighting and clothes colors.
The robot writing system controlled based on human body gesture that the present invention provides, utilizes Microsoft's body-sensing sensor
Kinect, obtains human body attitude information in a non-contact manner；The position utilizing human body two to take on constructs human body
Palm drawing area so that adapt to the manipulator of the different bodily form；Come in the relative position in this region according to people's palm
Control the track drafting of robot；Open, by palm, the state of holding and control the action of starting writing and start to write of robot；And
According to specification error scope, palm track drafting is processed, and then improve the control efficiency of robot.Should
System makes manipulation personnel can control plane joint type machine in real time with contactless natural man-machine interaction mode
The motion of people (SCARA), allows it follow the palm movement locus of manipulation personnel online, so that it completes to write
The function of word drawing, in the case of necessary, moreover it is possible to control the track that robot auto-erasing has been drawn.
Accompanying drawing explanation
Fig. 1 is the system structure schematic diagram of the present invention；
Fig. 2 is the SCARA robot drawing blank scheme of installation of embodiment；
Fig. 3 is the layout of the system of embodiment；
Fig. 4 is the schematic diagram of the palm drawing area of embodiment；
Fig. 5 is the method for planning track schematic diagram of embodiment；
Fig. 6 is the control flow chart of the present invention.
Detailed description of the invention
It is described in conjunction with the embodiments the detailed description of the invention of the present invention.
The present embodiment controlled device is SCARA robot, and it is the industrial robot of a kind of circular cylindrical coordinate type,
There are four degree of freedom, rely on three and realize for cradle head and a translation joint.Because three rotate and close
That saves is parallel to Z axis, and translation joint can realize end and move linearly along Z axis, therefore SCARA robot
The end translation along X, Y, Z axis, and the rotation along Z axis can be controlled.The rotating range in the first two joint
Being respectively ± 130 ° and ± 140 °, two brachiums are 250mm, and the stroke along Z axis is 200mm, last rotation
The slewing area turning joint is ± 360 °.The operation interval of SCARA robot is made up of multiple circular arcs.SCARA
Robot uses the Body Controller with PLC as core.Body Controller completes the real-time of joint of robot variable
Control and feedback, and can detect and early warning fault.Meanwhile, it can be communicated with host computer by Ethernet,
Thus realize computer to the management of robot and control.
Owing to Kinect can obtain coloured image and the depth information of environment simultaneously, can be relatively hence with Kinect
Obtain human body attitude information and palm state easily.
As it is shown in figure 1, based on gesture control robot writing system, including Kinect, SCARA robot,
Computer, photographic head, router, Kinect, photographic head be connected with computer respectively, computer and router
Connecting, computer includes display screen；Computer obtains the human body attitude information of operator by Kinect, and leads to
Cross Modbus agreement based on Ethernet to communicate with SCARA robot, use photographic head to obtain online
Take the scene that SCARA robot drawing is on-the-spot.Photographic head is USB camera.
Also including display, display is connected with computer, observes images themselves, robot for operator current
Motion conditions, palm track drafting and robot drawing track.Display is LCD TV.
In system, SCARA robot drawing plane is blank, and drawing instrument is white board marker.As in figure 2 it is shown, it is white
Plate pen is installed on immediately below SCARA robot Z axis, and its adjacent be to wipe track arrangement for realizing.Wipe
It is power resources except using air pressure, is controlled the lifting of whiteboard eraser by air-operated solenoid valve, thus realize drawing mould
Formula and the program control switching of erasing mode.
The layout of system is as it is shown on figure 3, Kinect is positioned over the surface of LCD TV, and operator stand position
Putting the distance of Kinect between 1.5m 2.1m, blank is in the underface of SCARA robot end, prison
USB camera depending on SCARA robot drawing situation is arranged on the oblique upper of blank.
The two shoulder positions according to Kinect human body attitude information determine an effective drawing area of palm, by human body
Palm is the drawing area of robot drawing district's Linear Mapping, and the relative position of human body palm then corresponds to
SCARA robot end's paintbrush position in drawing area.The schematic diagram of palm drawing area is as shown in Figure 4.
In figure, N is neck location, and Q, S are dual-shoulder position, and P is palm position, S and P is on movable that hand arm.
The initial point of palm drawing area is defined as at shoulder S, and the size of drawing area is according to shoulder breadth i.e. 2 distances of Q, S
Determine, to adapt to the people of multiple build.
When controlling SCARA robot and writing, tracing point the target location represented is sent to by program
SCARA robot, when it reaches this tracing point, retransmits the order moving to next tracing point.From
Sending a command to motion complete, the control of each tracing point will expend certain time, time-consuming the most all than
The cycle of Kinect gesture generation tracing point to be grown.According to putting the control mode of motion one by one, SCARA machine
Sizable time delay will be produced between the motion of people and the motion of people's palm.Therefore, the present embodiment have employed a kind of rail
Mark planing method so that between SCARA robot and people's palm, track is the most similar, does not haves again bigger
Time delay.Method for planning track is as it is shown in figure 5, the most all soft dots and black circle are primary stroke rail
Mark, and the tracing point being used for controlling SCARA robot after planning is black circle.In figure, e is the maximum arranged
Range of error, represents initial trace point track ultimate range after planning.In trajectory planning algorithm, it is assumed that
A point P, the then next output point Q of search are currently cooked up so that all initial trace between P and Q
Point is both less than e according to the distance of PQ line segment.It can be seen that compare initial trace, the tracing point after process
Much smaller number, so can be greatly shortened the SCARA motion planning and robot control time, improves echokinesis
Speed.Put down by the efficiency and this contradiction of precision suitably arranging e, SCARA motion planning and robot control
Weighing apparatus.
The major function that the robot writing system of the present invention is to be realized is to allow user be controlled by gesture
The action of SCARA robot so that it is complete to simulate the function that people writes.In addition to the interactive mode that gesture controls,
User can also be used with mouse operation and control or uses trail file to control the action of writing of SCARA robot.Meanwhile,
The function also needed to has erasing track, preserves trail file, board supervision, template word setting, interface video
The functions such as record, record playback.
Control method based on the robot writing system that gesture controls, as shown in Figure 6, after program starts,
First Kinect and SCARA robot is initialized, open the extraction of Kinect colour information and bone information carries
The function taken, connects the SCARA robot specifying IP, and initializes Computer display interface；
Then, enter the overall circulation of program, in cyclic process, determined whether erasing, mouse write,
Track drafting file, preservation track mouse event, if having, performing corresponding subprocess, otherwise calling Kinect
Attempt obtaining up-to-date human body attitude；
The information got from Kinect judges currently whether have user attempting gesture manipulation, if having, to carry out pen
Draw parsing, trajectory planning and interface record to process；
When robot motion is controlled by needs, program can be called SCARA robot and control submodule,
Thus complete corresponding action.
The functions such as the control of SCARA joint of robot degree of freedom, position feedback, air-operated solenoid valve IO control are all
Realized by robot body controller, and computer by set up Modbus agreement on Ethernet come with
SCARA robot body controller communicates.Utilize Modbus agreement, run on the program on computer permissible
Control action and the state of management robot of robot.On the computer of the present embodiment, software is to SCARA
The Modbus communications commands such as robot end's position control, position detection, the control of electromagnetic valve I O are packaged,
Call for each functional module.
Claims (3)
1. based on gesture control robot writing system, it is characterised in that include Kinect, SCARA machine
Device people, computer, photographic head, router, Kinect, photographic head be connected with computer respectively, computer with
Router connects, and computer includes display screen；Computer obtains the human body attitude information of operator by Kinect,
And communicated with SCARA robot by Modbus agreement based on Ethernet, use photographic head to exist
Line obtains the scene that SCARA robot drawing is on-the-spot.
The robot writing system controlled based on gesture the most according to claim 1, it is characterised in that also
Including display, display is connected with computer, observes images themselves, robot current kinetic feelings for operator
Condition, palm track drafting and robot drawing track.
The control method of the robot writing system controlled based on gesture the most according to claim 1 and 2, its
It is characterised by, including procedure below: after program starts, first Kinect and SCARA robot is carried out initially
Change, open the function that Kinect colour information is extracted and bone information extracts, connect the SCARA machine specifying IP
People, and Computer display interface is initialized；
Then, enter the overall circulation of program, in cyclic process, determined whether erasing, mouse write,
Track drafting file, preservation track mouse event, if having, performing corresponding subprocess, otherwise calling Kinect
Attempt obtaining up-to-date human body attitude；
The information got from Kinect judges currently whether have user attempting gesture manipulation, if having, to carry out pen
Draw parsing, trajectory planning and interface record to process；
When robot motion is controlled by needs, program can be called SCARA robot and control submodule,
Thus complete corresponding action.
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Cited By (10)
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| CN106485765A (en) * | 2016-10-13 | 2017-03-08 | 中国科学院半导体研究所 | A kind of method of automatic description face stick figure |
| CN106514667A (en) * | 2016-12-05 | 2017-03-22 | 北京理工大学 | Human-computer cooperation system based on Kinect skeletal tracking and uncalibrated visual servo |
| CN106570920A (en) * | 2016-11-02 | 2017-04-19 | 邹操 | Art display system based on plane scanning technology and method thereof |
| CN106683148A (en) * | 2016-12-08 | 2017-05-17 | 邹操 | Fractal graph generating and displaying system and method |
| CN107930161A (en) * | 2017-11-16 | 2018-04-20 | 大连交通大学 | A kind of shadow puppet performance equipment |
| CN108460369A (en) * | 2018-04-04 | 2018-08-28 | 南京阿凡达机器人科技有限公司 | A kind of drawing practice and system based on machine vision |
| CN108564063A (en) * | 2018-04-27 | 2018-09-21 | 北京华捷艾米科技有限公司 | Centre of the palm localization method based on depth information and system |
| CN108568822A (en) * | 2018-06-27 | 2018-09-25 | 西华大学 | Heterogeneous remote control system based on multiple robots |
| CN108961414A (en) * | 2017-05-19 | 2018-12-07 | 中兴通讯股份有限公司 | A kind of display control method and device |
| CN113246131A (en) * | 2021-05-27 | 2021-08-13 | 广东智源机器人科技有限公司 | Motion capture method and device, electronic equipment and mechanical arm control system |
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| CN106570920A (en) * | 2016-11-02 | 2017-04-19 | 邹操 | Art display system based on plane scanning technology and method thereof |
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| CN108961414A (en) * | 2017-05-19 | 2018-12-07 | 中兴通讯股份有限公司 | A kind of display control method and device |
| CN107930161B (en) * | 2017-11-16 | 2019-08-13 | 大连交通大学 | A kind of shadow puppet performance equipment |
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| CN108568822A (en) * | 2018-06-27 | 2018-09-25 | 西华大学 | Heterogeneous remote control system based on multiple robots |
| CN113246131A (en) * | 2021-05-27 | 2021-08-13 | 广东智源机器人科技有限公司 | Motion capture method and device, electronic equipment and mechanical arm control system |
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