CN106020494A - Three-dimensional gesture recognition method based on mobile tracking - Google Patents
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Abstract
The invention provides a three-dimensional gesture recognition method based on mobile tracking. According to the method, relative pose invariance of the tail end of a robot and a moving gesture is allowed to be kept while an operator moves the gesture. The method comprises steps as follows: (1), establishing a tracking model; (2), solving the tracking model; (3), driving the robot. With the adoption of a non-contact vision-based man-machine interface, the position and the pose of the hand of the operator can be acquired, and the robot is driven to track and recognize the moving gesture of the operator in real time.
Description
Technical field
The invention belongs to robot motion field, particularly to a kind of three-dimensional gesture recognition method based on mobile tracking.
Background technology
Along with various robots are widely used in numerous areas, current control mode also by conventional man machine interface, show
Religion device develops towards motion sensing control direction.Existing motion sensing control mode is the most all operator's profit before fixing sensor cover
Mutual with staff, this interactive mode can not be mapped to mobile gesture among robot motion's track intuitively, fixes simultaneously
Sensor have its fixing effective working region, the gesture moved for operator also exists and effectively works beyond sensor
The deficiency in region.This invention proposes and a kind of sensor is fixed on robot end thus the movement of Tracking Recognition operator
The method of three-dimension gesture, it allows operator to keep robot end relative not with the pose of mobile gesture while moving gesture
Degeneration.It is fixed on the sensor of end while the mobile hand gesture location and attitude data of acquisition operations person, together with end
Motion, benefit is to expand the actually active working region of sensor, as long as the hands moving range of operator is without departing from robot
The range of movement of end, sensor just can capture position and the attitude data of the mobile gesture of operator always, solves in the past
Fixing sensor identification target is likely beyond the problem of effective working region.
Summary of the invention
This invents a kind of method proposing moving three dimension gesture allowing robot end Tracking Recognition operator.This
Individual method employs contactless view-based access control model man-machine interface, and it can obtain position and the attitude of operator's hand, in real time
Driven machine people carrys out the mobile gesture of Tracking Recognition operator.
Present invention three-dimensional gesture recognition method based on mobile tracking comprises the steps:
S1, set up trace model;
S2, trace model solve;
S3, driven machine people.
Described step S1 comprises the following steps:
When completing Tracking Recognition operator's gesture task, capture behaviour by being fixed on the Leap Motion of robot end
The position of work person's hand and attitude.
Leap Motion has two infrared cameras.
1) position and attitude mode
Robot base, joint of robot, Leap Motion, staff coordinate system all use 3 mutually orthogonal axles to carry out table
Show (referring to Fig. 1).Robot base coordinate sys-tem xOy plane is horizontal direction;Z-axis positive direction is straight up.Robot closes
Z in joint i coordinate systemi-1Axle is positioned at by right hand rule rotary shaft direction;Xi-1Axle is along Zi-1With ZiCommon vertical line direction.Leap Motion
Z in coordinate systemLAxle is along Leap Motion short side direction;XLAxle is along Leap Motion long side direction;YLAxle positive direction
For vertical Leap Motion plane upwards.Z in staff coordinate systemHAxle is four finger directions, with ZLDirection of principal axis is consistent;XHAxle is thumb
Direction, with XLDirection of principal axis is consistent;YHAxle is that vertical hand is gone up dorsad, with YLDirection is consistent.Robot uses Denavit
Hartenberg (D H) model, AiRepresent the homogeneous coordinate transformation matrix from coordinate system i-1 to coordinate system i, then have:
Wherein θiRepresent when coordinate transform around Zi-1The angle rotated so that Xi-1And XiIt is parallel to each other;riRepresent at coordinate
Along Z during conversioni-1The distance of translation so that Xi-1And XiConllinear;liRepresent the X when coordinate transformi-1The distance of translation so that Xi-1
And XiInitial point overlap;αiRepresent the Z when coordinate transformi-1Around XiThe angle rotated so that Zi-1And ZiInitial point overlaps, direction one
Cause.
For a robot with six joints, from base coordinate system to the homogeneous transformation of Leap Motion coordinate system
Matrix is defined as:
WhereinFor the normal vector of Leap Motion,For sliding vector,For close to vector,For position vector.
Particularly because Leap Motion is fixed on robot end, have:
Wherein h is Leap Motion height.
The position and the attitude that are defined as t Leap Motion be:
Xt=[J1,t J2,t J3,t J4,t J5,t J6,t]T (4)
Wherein JiFor robot i-th joint angle.
Utilizing (1), (2), (3), (4) have:
T7=X0 (5)
Each joint angle angle value of initial time robot is obtained by solving (5).
The homogeneous transform matrix being tied to staff coordinate system from Leap Motion coordinate is defined as:
Wherein l is the distance of staff and Leap Motion.
Definition Z0For position and the attitude of initial time staff, have:
T7A8=Z0 (7)
Definition X 'tFor ideal position and the attitude of t Leap Motion, i.e. Leap in Descartes's state space
The relative pose of Motion and staff is constant, has:
T7A8=X 'tT (8)
Wherein T is staff for the position of Leap Motion and attitude matrix, and parameter is captured by Leap Motion, has:
By solving (8), (9) obtain X 't。
2) gesture tracking identification model
The maximum angular rate of each joint angle of definition robot:
Vmax=[v1 v2 v3 v4 v5 v6]T (10)
For making robot end constant with the relative pose of staff, problem is converted into and solves following quadratic programming equation:
Wherein Δ T is the sampling interval between t and t 1 moment.
Described step S2 comprises the following steps:
Above-mentioned quadratic programming equation is solved, proposes optimal solution and approximate solution two schemes, can be retouched by geometry
Stating, illustrate with two-dimensional case, main consideration theory state situation outside area of feasible solution, conclusion can naturally be generalized to 6
Tie up even n-dimensional space, as shown in Figure 2.
Optimal solution situation:
According to quadratic programming model, can obtain optimal solution is:
Xi,t=max (Xi,t-1+ΔT·Vi,max,Xi,t') i=1,2 ..., 6 (12)
This solution is the optimal solution of quadratic programming model, the theoretical shape that virtual condition solution is all the most corresponding with optimal solution
State is closest;Optimal solution in understanding is semantically, from the fortune of the current joint angle state of robot to target joint horn shape state
During Dong, for each joint angle, if it is possible to move to the desired value that optimal solution is corresponding, then this joint angle can be moved to
Excellent solving corresponding desired value, otherwise, this joint angle moves to maximum speed can from the desired value corresponding to optimal solution
Near value;This solution is to be separated by each state component, individually considers the optimal solution of each state component;But robot
Position and the attitude of end are together decided on by 6 joint angles, individually solve the optimal solution that may there is joint angle space
It is not the optimal solution of robot location and attitude, thereby increases and it is possible to there is the unstable phenomenon of robot motion;To this end, can be by asking
Approximate solution solves motion smoothing problem;
Approximate solution situation:
For above-mentioned optimal solution, owing to speed is different, the desired value of each joint angle is different, the differences in motion of each joint angle
Value ratio is in constantly change, therefore, for approximate solution scheme, by the stable movement definition of portable Leap Motion platform
The movement velocity ratio moment for each joint angle preserves as the maximum movement speed ratio of each joint angle, and the moment keeps
Relative motion state;Therefore, obtaining approximate solution is:
Approximate solution is the approximate optimal solution of quadratic programming model, and essence is to allow the direction of motion of robot transport along impact point
Dynamic;Approximate solution in understanding is semantically: from the motor process of the current joint angle state of robot to target joint horn shape state
In, if individually considering each joint angle, then joint angle moves to the time needed for target joint angle with maximum speed and isTi,tIf more than Δ T, representing in Δ T time, this joint angle cannot move to desired value, otherwise, this pass
Joint angle can move to desired value, and whether above-mentioned optimal solution can move to desired value according to this joint angle exactly, determines
Its quantity of motion, but this can cause some joint angle movement velocity too fast, some joint angle movement velocity is the slowest, or certain closes
Joint angle very short time of only moving just immediately stops, and the motion of some joint angle just stops for a long time, and this defines with stable movement
It is not inconsistent;Approximate solution is to be considered by whole joint angles, it is stipulated that all joint angle relative motion state is the same, and motor process is each
The movement velocity ratio corresponding maximum movement speed ratio of joint angle is the same, and the direction of motion is the direction along impact point,
Then the state feasible solution of quadratic programming model is at Xt-1X′tLine on, position is:
Xt-1X′t/Xt-1Xt=max (Ti,t)/ΔT (14)
Described step S3 comprises the following steps:
X is obtained by solving (5)tAfter, six articulation angle angle value of robot:
M=Xt-Xt-1=(θ1,θ2,...,θ6)T (15)
Solve the angle value obtaining robot each joint desirable movement, robot end after whole joint motions
End just arrives the position specified.
The present invention has such advantages as relative to prior art and effect:
The present invention proposes a kind of method of moving three dimension gesture allowing robot end Tracking Recognition operator.This
The interface of view-based access control model allows operator to move gesture to control robot and reach required pose.And algorithm provides approximate solution,
Can be applicable in the robot that movement velocity is different without limiting the movement velocity of staff.
Accompanying drawing explanation
Tu1Shi robot, Leap Motion, staff coordinate system schematic diagram;
Fig. 2 is the quadratic programming equation solution situation under two-dimensional space;
Fig. 3 is to be embodied as example results trace figure;
Fig. 4 is three-dimensional gesture recognition method flow chart based on mobile tracking.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described in further detail, but embodiments of the present invention are not limited to this in fact
Execute example.
The present invention comprises the steps:
S1, set up trace model;
S2, trace model solve;
S3, driven machine people.
Described step S1 comprises the following steps:
When completing Tracking Recognition operator's gesture task, capture behaviour by being fixed on the Leap Motion of robot end
The position of work person's hand and attitude.
Leap Motion has two infrared cameras.
1) position and attitude mode
Robot base, joint of robot, Leap Motion, staff coordinate system all use 3 mutually orthogonal axles to carry out table
Show.Robot base coordinate sys-tem xOy plane is horizontal direction;Z-axis positive direction is straight up.In joint of robot i coordinate system
Zi-1Axle is positioned at by right hand rule rotary shaft direction;Xi-1Axle is along Zi-1With ZiCommon vertical line direction.Z in Leap Motion coordinate systemLAxle
For along Leap Motion short side direction;XLAxle is along Leap Motion long side direction;YLAxle positive direction is vertical Leap
Motion plane is upwards.Z in staff coordinate systemHAxle is four finger directions, with ZLDirection of principal axis is consistent;XHAxle is thumb direction, with XLAxle
Direction is consistent;YHAxle is that vertical hand is gone up dorsad, with YLDirection is consistent.Robot uses Denavit Hartenberg (D H) mould
Type, AiRepresent the homogeneous coordinate transformation matrix from coordinate system i-1 to coordinate system i, then have:
Wherein θiRepresent when coordinate transform around Zi-1The angle rotated so that Xi-1And XiIt is parallel to each other;riRepresent at coordinate
Along Z during conversioni-1The distance of translation so that Xi-1And XiConllinear;liRepresent the X when coordinate transformi-1The distance of translation so that Xi-1
And XiInitial point overlap;αiRepresent the Z when coordinate transformi-1Around XiThe angle rotated so that Zi-1And ZiInitial point overlaps, direction one
Cause.
For a robot with six joints in this example, D H parameters selection is as follows:
θ=[0 0000 0]T (2)
R=[250 00 650 0-200]T (3)
L=[150 570 150 00 0]T (4)
Particularly because Leap Motion is fixed on robot end, have:
Wherein h is Leap Motion height, and the Leap Motion used in this example is highly 10mm, has:
The position and the attitude that are defined as t Leap Motion be:
Xt=[J1,t J2,t J3,t J4,t J5,t J6,t]T (8)
Wherein JiFor robot i-th joint angle.
Utilizing (1), (2), (3), (4) have:
T7=X0 (9)
In this example, obtain each joint angle angle value of initial time robot by solving (5),
The homogeneous transform matrix being tied to staff coordinate system from Leap Motion coordinate is defined as:
Wherein l is the distance of staff and Leap Motion, and in this example, staff with Leap Motion distance is
200mm, palm is parallel to Leap Motion, has:
Definition Z0For position and the attitude of initial time staff, have:
T7A8=Z0 (13)
Definition X 'tFor ideal position and the attitude of t Leap Motion, i.e. Leap in Descartes's state space
The relative pose of Motion and staff is constant, has:
T7A8=X 'tT (14)
Wherein T is staff for the position of Leap Motion and attitude matrix, and parameter is captured by Leap Motion, has:
By solving (8), (9) obtain X 't。
2) gesture tracking identification model
In this example, the maximum angular rate of each joint angle of definition robot:
Vmax=[2.71 2.16 3.59 6.69 6.82 8.07]T (16)
For making robot end constant with the relative pose of staff, problem is converted into and solves following quadratic programming equation:
Wherein Δ T is the sampling interval between t and t 1 moment.
Described step S2 comprises the following steps:
Above-mentioned quadratic programming equation is solved, proposes optimal solution and approximate solution two schemes, can be retouched by geometry
Stating, illustrate with two-dimensional case, main consideration theory state situation outside area of feasible solution, conclusion can naturally be generalized to 6
Tie up even n-dimensional space, as shown in Figure 2.
Optimal solution situation:
According to quadratic programming model, can obtain optimal solution is:
Xi,t=max (Xi,t-1+ΔT·Vi,max,Xi,t') i=1,2 ..., 6 (12)
This solution is the optimal solution of quadratic programming model, the theoretical shape that virtual condition solution is all the most corresponding with optimal solution
State is closest;Optimal solution in understanding is semantically, from the fortune of the current joint angle state of robot to target joint horn shape state
During Dong, for each joint angle, if it is possible to move to the desired value that optimal solution is corresponding, then this joint angle can be moved to
Excellent solving corresponding desired value, otherwise, this joint angle moves to maximum speed can from the desired value corresponding to optimal solution
Near value;This solution is to be separated by each state component, individually considers the optimal solution of each state component;But robot
Position and the attitude of end are together decided on by 6 joint angles, individually solve the optimal solution that may there is joint angle space
It is not the optimal solution of robot location and attitude, thereby increases and it is possible to there is the unstable phenomenon of robot motion;To this end, can be by asking
Approximate solution solves motion smoothing problem;
Approximate solution situation:
For above-mentioned optimal solution, owing to speed is different, the desired value of each joint angle is different, the differences in motion of each joint angle
Value ratio is in constantly change, therefore, for approximate solution scheme, by the stable movement definition of portable Leap Motion platform
The movement velocity ratio moment for each joint angle preserves as the maximum movement speed ratio of each joint angle, and the moment keeps
Relative motion state;Therefore, obtaining approximate solution is:
Approximate solution is the approximate optimal solution of quadratic programming model, and essence is to allow the direction of motion of robot transport along impact point
Dynamic;Approximate solution in understanding is semantically: from the motor process of the current joint angle state of robot to target joint horn shape state
In, if individually considering each joint angle, then joint angle moves to the time needed for target joint angle with maximum speed and isTi,tIf more than Δ T, representing in Δ T time, this joint angle cannot move to desired value, otherwise, this pass
Joint angle can move to desired value, and whether above-mentioned optimal solution can move to desired value according to this joint angle exactly, determines
Its quantity of motion, but this can cause some joint angle movement velocity too fast, some joint angle movement velocity is the slowest, or certain closes
Joint angle very short time of only moving just immediately stops, and the motion of some joint angle just stops for a long time, and this defines with stable movement
It is not inconsistent;Approximate solution is to be considered by whole joint angles, it is stipulated that all joint angle relative motion state is the same, and motor process is each
The movement velocity ratio corresponding maximum movement speed ratio of joint angle is the same, and the direction of motion is the direction along impact point,
Then the state feasible solution of quadratic programming model is at Xt-1X′tLine on, position is:
Xt-1X′t/Xt-1Xt=max (Ti,t)/ΔT (14)
Described step S3 comprises the following steps:
X is obtained by solving (5)tAfter, six articulation angle angle value of robot:
M=Xt-Xt-1=(θ1,θ2,...,θ6)T (15)
Solve the angle value obtaining robot each joint desirable movement, robot end after whole joint motions
End just arrives the position specified.
The data produced in this example have plotted trajectory diagram, refer to Fig. 3.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not by above-described embodiment
Limit, the change made under other any spirit without departing from the present invention and principle, modify, substitute, combine, simplify,
All should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (4)
1. three-dimensional gesture recognition method based on mobile tracking, it is characterised in that comprise the steps:
S1, set up trace model;
S2, trace model solve;
S3, driven machine people.
Three-dimensional gesture recognition method based on mobile tracking the most according to claim 1, it is characterised in that described step S1
Specifically include:
When completing Tracking Recognition operator's gesture task, capture operator by being fixed on the Leap Motion of robot end
The position of hand and attitude;Described Leap Motion has two infrared cameras;
1) position and attitude mode
Robot base, joint of robot, Leap Motion, staff coordinate system all use 3 mutually orthogonal axles to represent.
Robot base coordinate sys-tem xOy plane is horizontal direction;Z-axis positive direction is straight up.Z in joint of robot i coordinate systemi-1
Axle is positioned at by right hand rule rotary shaft direction;Xi-1Axle is along Zi-1With ZiCommon vertical line direction.Z in Leap Motion coordinate systemLAxle is
Along Leap Motion short side direction;XLAxle is along Leap Motion long side direction;YLAxle positive direction is vertical Leap
Motion plane is upwards.Z in staff coordinate systemHAxle is four finger directions, with ZLDirection of principal axis is consistent;XHAxle is thumb direction, with XLAxle
Direction is consistent;YHAxle is that vertical hand is gone up dorsad, with YLDirection is consistent.Robot uses Denavit Hartenberg (D H) mould
Type, AiRepresent the homogeneous coordinate transformation matrix from coordinate system i-1 to coordinate system i, then have:
Wherein θiRepresent when coordinate transform around Zi-1The angle rotated so that Xi-1And XiIt is parallel to each other;riRepresent in coordinate transform
Time along Zi-1The distance of translation so that Xi-1And XiConllinear;liRepresent the X when coordinate transformi-1The distance of translation so that Xi-1And Xi
Initial point overlap;αiRepresent the Z when coordinate transformi-1Around XiThe angle rotated so that Zi-1And ZiInitial point overlaps, and direction is consistent.
For a robot with six joints, from base coordinate system to the homogeneous transform matrix of Leap Motion coordinate system
It is defined as:
WhereinFor the normal vector of Leap Motion,For sliding vector,For close to vector,For position vector;
Because Leap Motion is fixed on robot end, have:
Wherein h is Leap Motion height;
The position and the attitude that are defined as t Leap Motion be:
Xt=[J1,t J2,t J3,t J4,t J5,t J6,t]T (4)
Wherein JiFor robot i-th joint angle;
Utilizing formula (1), (2), (3), (4) have:
T7=X0 (5)
Each joint angle angle value of initial time robot is obtained by solving (5);
The homogeneous transform matrix being tied to staff coordinate system from Leap Motion coordinate is defined as:
Wherein l is the distance of staff and Leap Motion;
Definition Z0For position and the attitude of initial time staff, have:
T7A8=Z0 (7)
Definition X 'tFor ideal position and the attitude of t Leap Motion, i.e. Leap Motion in Descartes's state space
Constant with the relative pose of staff, have:
T7A8=X 'tT (8)
Wherein T is staff for the position of Leap Motion and attitude matrix, and parameter is captured by Leap Motion, has:
By solving (8), (9) obtain X 't;
2) gesture tracking identification model
The maximum angular rate of each joint angle of definition robot:
Vmax=[v1 v2 v3 v4 v5 v6]T (10)
For making robot end constant with the relative pose of staff, problem is converted into and solves following quadratic programming equation:
Wherein Δ T is the sampling interval between t and t 1 moment.
Three-dimensional gesture recognition method based on mobile tracking the most according to claim 1, it is characterised in that described step S2
Comprise the following steps:
Above-mentioned quadratic programming equation is solved, proposes optimal solution and approximate solution two schemes, described by geometry, with two
Dimension situation is generalized to 6 and ties up even n-dimensional space;
Optimal solution situation:
According to quadratic programming model, can obtain optimal solution is:
Xi,t=max (Xi,t-1+ΔT·Vi,max,Xi,t') i=1,2 ..., 6 (12)
This solution is the optimal solution of quadratic programming model, and all the most corresponding with the optimal solution theory state of virtual condition solution is
Close;Optimal solution in understanding is semantically, from joint angle state being moved through to target joint horn shape state that robot is current
Cheng Zhong, for each joint angle, if it is possible to move to the desired value that optimal solution is corresponding, then this joint angle can be moved to optimal solution
Corresponding desired value, otherwise, this joint angle moves to maximum speed can be nearest from the desired value corresponding to optimal solution
Value;This solution is to be separated by each state component, individually considers the optimal solution of each state component;But robot end
Position and attitude together decided on by 6 joint angles, individually solve and may there is the optimal solution in joint angle space not
It is the optimal solution of robot location and attitude, thereby increases and it is possible to there is the unstable phenomenon of robot motion;To this end, can be by seeking approximation
Solution solves motion smoothing problem;
Approximate solution situation:
For above-mentioned optimal solution, owing to speed is different, the desired value of each joint angle is different, the motion difference ratio of each joint angle
Example is in constantly change, therefore, for approximate solution scheme, the stable movement of portable Leap Motion platform is defined as respectively
The movement velocity ratio moment of individual joint angle preserves as the maximum movement speed ratio of each joint angle, and the moment keeps relatively
Kinestate;Therefore, obtaining approximate solution is:
Approximate solution is the approximate optimal solution of quadratic programming model, and essence is to allow the direction of motion of robot move along impact point;
Approximate solution in understanding is semantically: from the current joint angle state of robot to the motor process of target joint horn shape state,
If individually considering each joint angle, then joint angle moves to the time needed for target joint angle with maximum speed and isTi,tIf more than Δ T, representing in Δ T time, this joint angle cannot move to desired value, otherwise, this joint
Angle can move to desired value, and whether above-mentioned optimal solution can move to desired value according to this joint angle exactly, determines it
Quantity of motion, but this can cause some joint angle movement velocity too fast, some joint angle movement velocity is the slowest, or certain joint
Angle very short time of only moving just immediately stops, and the motion of some joint angle just stops for a long time, and this defines not with stable movement
Symbol;Approximate solution is to be considered by whole joint angles, it is stipulated that all joint angle relative motion state is the same, and motor process is respectively closed
The movement velocity ratio corresponding maximum movement speed ratio at joint angle is the same, and the direction of motion is the direction along impact point, then
The state feasible solution of quadratic programming model is at Xt-1X′tLine on, position is:
Xt-1X′t/Xt-1Xt=max (Ti,t)/ΔT (14)。
Three-dimensional gesture recognition method based on mobile tracking the most according to claim 1, it is characterised in that described step S3
Specifically include:
X is obtained by solving (5)tAfter, six articulation angle angle value of robot:
M=Xt-Xt-1=(θ1,θ2,...,θ6)T (15)
Having solved the angle value obtaining robot each joint desirable movement, after whole joint motions, robot end is just
Arrive the position specified.
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CN107688390A (en) * | 2017-08-28 | 2018-02-13 | 武汉大学 | A kind of gesture recognition controller based on body feeling interaction equipment |
CN108406725A (en) * | 2018-02-09 | 2018-08-17 | 华南理工大学 | Force feedback man-machine interactive system and method based on electromagnetic theory and mobile tracking |
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