CN106239511A - A kind of robot based on head movement moves control mode - Google Patents
A kind of robot based on head movement moves control mode Download PDFInfo
- Publication number
- CN106239511A CN106239511A CN201610729140.1A CN201610729140A CN106239511A CN 106239511 A CN106239511 A CN 106239511A CN 201610729140 A CN201610729140 A CN 201610729140A CN 106239511 A CN106239511 A CN 106239511A
- Authority
- CN
- China
- Prior art keywords
- robot
- mobile phone
- head movement
- control mode
- head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
Abstract
The present invention is open a kind of easy and simple to handle, controls fine, and the robot based on head movement that the robot of control more intuitively moves moves control mode, and which, by merging mobile phone sensor, obtains the mobile phone pose in space；Gather robot video pictures in conjunction with mobile phone, mobile phone can be worn on head as controller, control robot by head movement and move.When coming back such as people, robot advances；When people bows, robot retreats；Head part's left/right rotation, robot also left-right rotation and other foundation head movement robot do corresponding motion.The method utilizing the present invention so that people more intuitively control robot and move, solves and releases both hands so that the mechanical arm operation etc. of remote control robot.
Description
Technical field
The present invention relates to a kind of robot and move control mode, especially relate to a kind of robot based on head movement and move
Dynamic control mode.
Background technology
At present, the control mode of robot has two kinds: Autonomous Control and man-machine collaboration, and wherein, Autonomous Control is due to machine
People's complexity to environment understanding, is currently in the scientific research stage more, applies the most universal；And man-machine collaboration is robot control
In the most efficient and important developing direction.
For by mobile chassis, mechanical arm, and the anthropomorphic robot of head photographic head composition, use man-machine collaboration control
System, a big difficult point is exactly: control movement and the mechanical arm operation of robot the most simultaneously.
Traditional control mode such as rocking handle, operator's both hands need to hold rocking handle and control robot and move, it is impossible to simultaneously
Control the mechanical arm of robot；Or on rocking handle, increase the methods such as more button, rocking bar control mechanical arm, such result
Being that rocking handle is complicated, operator can only press movement and the mechanical arm of step operation robot one by one, it is impossible to realizes efficiently
Control movement and the mechanical arm operation of this type of robot simultaneously.
Summary of the invention
In order to solve above-mentioned prior art problem, the present invention is open a kind of easy and simple to handle, controls fine, base more intuitively
Robot in head movement moves control mode, and the method with the restricted model algorithm between mobile phone motion and robot motion is
Basis, obtains head position, attitude and controls the motion of robot, and it implements and comprises the steps:
Corresponding relation between step 1, the position of designated mobile phone, exercise attitudes and the position of robot, exercise attitudes；
Step 2, by merging the sensor of interior of mobile phone, obtain mobile phone in the position in space and posture；
Step 3, mobile phone is worn on head；
Step 4, acquisition mobile phone location and posture；
Step 5, combine mobile phone and the position in the machine human world, posture corresponding relation, it is achieved the control to robot motion.
For realizing the present invention further, in described step 1, the position of the position of mobile phone, exercise attitudes and robot, motion
Corresponding relation between posture is saved in the main logic algorithm of relational database, XML file or program.
For realizing the present invention further, in described step 2, utilize position and the posture of detector detection mobile phone.
For realizing the present invention further, in described step 2, described sensor be gyro sensor, acceleration transducer,
Combination more than the circuit analysis detector of designed, designed or both.
For realizing the present invention further, in described step 4, position and the posture of mobile phone are saved in relational database, XML
In the main logic algorithm of file or program.
For realizing the present invention further, in described step 5, by wired serial communication or wireless near field communication or
Remote network communication transmission control instruction, to slave computer controller, controls robot motion.
The present invention provide a kind of based on head movement robot move control mode compared with the existing technology, have as
Lower advantage:
1, the present invention provide a kind of based on head movement robot move control mode, the method with mobile phone motion and
Based on restricted model algorithm between robot motion, obtain head position, attitude and control the motion of robot, can be more straight
The control robot motion seen, solution releasing both hands are so that the mechanical arm operation of remote control robot, easy and simple to handle.
2, a kind of based on head movement the robot that the present invention provides moves control mode, and the method is conducive to robot
Control in motor process, simple to operate and control more fine, the action that robot makes is the most more.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that mobile phone is worn on head by the present invention as controller；
Fig. 2 is the structure chart that a kind of based on head movement the robot of the present invention moves control mode；
Fig. 3 is the flow chart that a kind of based on head movement the robot of the present invention moves control mode.
Detailed description of the invention
The present invention is further elaborated with embodiment below in conjunction with the accompanying drawings, embodiment of the disclosure and must not be intended to include
All aspects of the invention.Should be appreciated that multiple design presented hereinbefore and embodiment, and describe in more detail below
Those design and embodiment can in many ways in any one is implemented, this is because design disclosed in this invention and
Embodiment is not limited to any embodiment.It addition, aspects more disclosed by the invention can be used alone, or and the present invention
Disclosed otherwise any appropriately combined use.
As it is shown in figure 1, a kind of robot based on head movement moves control mode, comprise mobile phone motion pick module,
Data analysis module, controller and motor drive module, robot move 4 modules of control module.Wherein, mobile phone motion pick
Module is for gathering the motion of mobile phone；Data analysis module is according to mobile phone change in location within certain time period, translational speed
Obtain the moving process of mobile phone and track, as mobile phone downwards, upwards, forward, rearward movement etc.；Controller and motor drive module
Movement according to the output control robot that data analysis module is analyzed.When coming back such as people, robot advances；When people bows,
Robot retreats；Head part's left/right rotation, robot also left-right rotation and other foundation head movement robot do corresponding fortune
Dynamic.
Fig. 2 is the flow chart that the robot based on head movement according to certain embodiments of the invention moves control mode,
Specifically comprise the following steps that
Corresponding relation between step 1, the position of designated mobile phone, exercise attitudes and the position of robot, exercise attitudes；
Step 2, by merging the sensor of interior of mobile phone, obtain mobile phone in the position in space and posture；
Step 3, mobile phone is worn on head；
Step 4, acquisition mobile phone location and posture；
Step 5, combine mobile phone and the position in the machine human world, posture corresponding relation, it is achieved the control to robot motion.
Embodiment described above is only to be described the preferred embodiment of the present invention, not to the present invention
Scope is defined, and under design spirit premise without departing from the present invention, this area ordinary skill technical staff is to the technology of the present invention
Any deformation that scheme is made and improvement, all should fall in the protection domain that claims of the present invention determines.
Claims (6)
1. a robot based on head movement moves control mode, it is characterised in that the method is with mobile phone motion and machine
Based on restricted model algorithm between people's motion, obtaining head position, attitude and control the motion of robot, it implements bag
Include following steps:
Corresponding relation between step 1, the position of designated mobile phone, exercise attitudes and the position of robot, exercise attitudes；
Step 2, by merging the sensor of interior of mobile phone, obtain mobile phone in the position in space and posture；
Step 3, mobile phone is worn on head；
Step 4, acquisition mobile phone location and posture；
Step 5, combine mobile phone and the position in the machine human world, posture corresponding relation, it is achieved the control to robot motion.
A kind of robot based on head movement the most according to claim 1 moves control mode, it is characterised in that described
In step 1, the corresponding relation between the position of the position of mobile phone, exercise attitudes and robot, exercise attitudes is saved in pass coefficient
According in the main logic algorithm of storehouse, XML file or program.
A kind of robot based on head movement the most according to claim 1 moves control mode, it is characterised in that described
In step 2, utilize position and the posture of detector detection mobile phone.
A kind of robot based on head movement the most according to claim 1 moves control mode, it is characterised in that described
In step 4, position and the posture of mobile phone are saved in the main logic algorithm of relational database, XML file or program.
A kind of robot based on head movement the most according to claim 1 moves control mode, it is characterised in that described
In step 5, transmit control instruction to bottom by wired serial communication or wireless near field communication or remote network communication
Machine controller, controls robot motion.
A kind of robot based on head movement the most according to claim 1 moves control mode, it is characterised in that described
In step 2, described sensor be gyro sensor, acceleration transducer, designed, designed circuit analysis detector or its two
Combination more than person.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610729140.1A CN106239511A (en) | 2016-08-26 | 2016-08-26 | A kind of robot based on head movement moves control mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610729140.1A CN106239511A (en) | 2016-08-26 | 2016-08-26 | A kind of robot based on head movement moves control mode |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106239511A true CN106239511A (en) | 2016-12-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610729140.1A Pending CN106239511A (en) | 2016-08-26 | 2016-08-26 | A kind of robot based on head movement moves control mode |
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| Country | Link |
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| CN (1) | CN106239511A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106873773A (en) * | 2017-01-09 | 2017-06-20 | 北京奇虎科技有限公司 | Robot interactive control method, server and robot |
| CN110653827A (en) * | 2019-11-11 | 2020-01-07 | 路邦科技授权有限公司 | Waist control system of bionic robot |
| CN112936269A (en) * | 2021-02-04 | 2021-06-11 | 珠海市一微半导体有限公司 | Robot control method based on intelligent terminal |
| CN116243795A (en) * | 2023-02-20 | 2023-06-09 | 南方科技大学 | Mixed reality-based object grabbing method and mixed reality equipment |
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| CN101977240A (en) * | 2010-11-15 | 2011-02-16 | 南开大学 | IPhone smart phone based robot human-machine interactive system |
| US20110158476A1 (en) * | 2009-12-24 | 2011-06-30 | National Taiwan University Of Science And Technology | Robot and method for recognizing human faces and gestures thereof |
| CN102348068A (en) * | 2011-08-03 | 2012-02-08 | 东北大学 | Head gesture control-based following remote visual system |
| CN205075054U (en) * | 2015-08-12 | 2016-03-09 | 哈尔滨理工大学 | A robot for high -risk operation |
| CN105759973A (en) * | 2016-03-09 | 2016-07-13 | 电子科技大学 | Far-near distance man-machine interactive system based on 3D sight estimation and far-near distance man-machine interactive method based on 3D sight estimation |
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- 2016-08-26 CN CN201610729140.1A patent/CN106239511A/en active Pending
Patent Citations (6)
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| WO2010110411A1 (en) * | 2009-03-26 | 2010-09-30 | 独立行政法人産業技術総合研究所 | Device for input via head motions |
| US20110158476A1 (en) * | 2009-12-24 | 2011-06-30 | National Taiwan University Of Science And Technology | Robot and method for recognizing human faces and gestures thereof |
| CN101977240A (en) * | 2010-11-15 | 2011-02-16 | 南开大学 | IPhone smart phone based robot human-machine interactive system |
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| CN205075054U (en) * | 2015-08-12 | 2016-03-09 | 哈尔滨理工大学 | A robot for high -risk operation |
| CN105759973A (en) * | 2016-03-09 | 2016-07-13 | 电子科技大学 | Far-near distance man-machine interactive system based on 3D sight estimation and far-near distance man-machine interactive method based on 3D sight estimation |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106873773A (en) * | 2017-01-09 | 2017-06-20 | 北京奇虎科技有限公司 | Robot interactive control method, server and robot |
| CN110653827A (en) * | 2019-11-11 | 2020-01-07 | 路邦科技授权有限公司 | Waist control system of bionic robot |
| CN112936269A (en) * | 2021-02-04 | 2021-06-11 | 珠海市一微半导体有限公司 | Robot control method based on intelligent terminal |
| CN116243795A (en) * | 2023-02-20 | 2023-06-09 | 南方科技大学 | Mixed reality-based object grabbing method and mixed reality equipment |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180320 Address after: No. 2, No. 2, Taoyuan District, No. 30, Xuefu Road, Nanshan District, Shenzhen, Guangdong Province, 220 Applicant after: Tu Chao Address before: 201, room 550, 510000 Binjiang East Road, Guangzhou, Guangdong, Haizhuqu District, eleven Applicant before: Guangzhou Xiaowa Intelligent Technology Co., Ltd. |
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Application publication date: 20161221 |
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| RJ01 | Rejection of invention patent application after publication |