CN106514601A - System for assisting manipulator arm to work with motion capture technology - Google Patents
System for assisting manipulator arm to work with motion capture technology Download PDFInfo
- Publication number
- CN106514601A CN106514601A CN201611079994.6A CN201611079994A CN106514601A CN 106514601 A CN106514601 A CN 106514601A CN 201611079994 A CN201611079994 A CN 201611079994A CN 106514601 A CN106514601 A CN 106514601A
- Authority
- CN
- China
- Prior art keywords
- host computer
- sensor
- lower bit
- bit processor
- manipulator
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- 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
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
Abstract
The invention discloses a system for assisting a manipulator arm to work with a motion capture technology. The system comprises a manipulator module, a host computer for acquiring a control signal, a control communication module which is connected with the host computer, an upper sensor which is connected with the host computer, a lower processor which is connected with the host computer, an intermediate sensor which is connected with the lower processor, and end sensors which are connected with the lower processor, wherein the manipulator module is used for storing the obtained control signal and working according to the stored control signal; a fixed control signal is used and replaces an original control program for the manipulator module to work, so that programming can be saved; when a working mode of a manipulator is to be changed, a set of control signals can be simply input through the system. The system has the advantages that manipulator arms are controlled by capturing the motion of hands, complex programming is avoided, and the adaptability is high; the improvement cost is low; the system can be reconstructed based on existing equipment.
Description
Technical field
The present invention relates to a kind of dynamic collect system, and in particular to a kind of to adopt motion capture technology Aided Machine arm work
The system of work.
Background technology
With the development of network skill, the direction that the networking operation problem of mechanical hand develops after being also.Industrial robot
It is a kind of high-tech automated production equipment that recent decades grow up.Industry mechanical arm is one of industrial robot heavy
Want branch.Its feature is to complete various expected job tasks by programming, and on construction and performance has people and machine concurrently
The respective advantage of device, especially embodies intelligence and the adaptability of people.Complete to make in the accuracy of mechanical manual task and various environment
The ability of industry, has vast potential for future development in all fields of national economy.Mechanical hand is during mechanization, automated production
A kind of new device for growing up.In present-day procedure, mechanical hand is widely applied in automatic assembly line, machinery
The development and production of people becomes in high-tech sector, the emerging technology of develop rapidly, and it more promotes machine
The development of tool handss so that mechanical hand can be better achieved the combination with mechanization and automatization.Although mechanical hand might as well
Staff is flexible like that, but it has energy constantly repeated work and work, does not know fatigue, is fearless of danger, the strength ratio of snatch weight
The characteristics of people's hand-power is big, therefore, mechanical hand is paid attention to by many departments, and is applied more and more widely.China
Plastics machinery has become one of machinery manufacturing industry industry with fastest developing speed, and annual requirement is constantly being increased.China's plastics machinery
The high speed development of industry mainly has following two big factors：One is the renewal of the equipment brought to the demand of high technology content equipment
And obsolete equipment is superseded；Two is the high speed development of plastic processing industry through the country, to the in great demand of plastics machinery.
Existing being controlled to mechanical arm using programming needs to be programmed mechanical arm in advance, and programming difficulty is high, meanwhile,
Adaptability with batch processing is limited, more bothers when the mechanical arm course of work is changed.
The content of the invention
The technical problem to be solved is to reduce mechanical hand programming difficulty, it is therefore intended that provides one kind and adopts action
The system of capturing technology Aided Machine arm work, solving existing being controlled to mechanical arm using programming is needed in advance to machinery
Arm is programmed, and programming difficulty is high, meanwhile, the adaptability with batch processing is limited, when the mechanical arm course of work is changed more
Troublesome problem.
The present invention is achieved through the following technical solutions：
A kind of system of employing motion capture technology Aided Machine arm work, including manipulator, also including upper
The lower bit processor of machine and host computer connection control communication module, the upper level sensor of host computer connection and host computer connection,
The intermediate sensor being connected with lower bit processor and the tip sensor being connected with lower bit processor；
Manipulator：The control signal that control communication module sends is received, control signal is stored and according to storage
Control signal is operated；
Control communication module：The control signal that host computer sends is received, the control signal that host computer is sent is sent out after processing
Give manipulator；
Host computer：The digital signal that hand motion acquisition module sends is received, the digital signal for receiving is converted into into control
Control communication module is sent to after signal processed；
Upper level sensor：The detection three-axis moving state processing of itself is upper motor data is activation to host computer；
Lower bit processor：Receive the end movement that the intermediary movements data and tip sensor of intermediate sensor transmission send
Data, are integrated into lower motor data is activation to host computer；
Intermediate sensor：The detection three-axis moving state processing of itself gives lower bit processor for intermediary movements data is activation；
Tip sensor：The detection three-axis moving state processing of itself gives lower bit processor for end movement data is activation.
When system works, upper level sensor is arranged on the arm of operator, and intermediate sensor is arranged on operator's
On palm, tip sensor is arranged on the finger of operator.When system works, upper level sensor is arranged on the handss of operator
On arm, intermediate sensor is arranged on the palm of operator, and tip sensor is arranged on the finger of operator.Due to upper biography
Sensor is arranged on arm, and upper level sensor gathers the three-axis moving state that the three-axis moving state of itself is arm, in the same manner
The kinestate of intermediate sensor detection palm, tip sensor detect that the kinestate of finger, intermediate sensor and end pass
The data is activation for detecting senses to lower bit processor, the data that intermediate sensor is sent by lower bit processor by sensor with end
Host computer, the data that the data that slave computer is sent by host computer are sent with upper level sensor are sent to after the Data Integration that device sends
Carry out sending control signal after Data Matching to communication module is controlled by same time, control communication module and control signal is sent
To manipulator, control signal is stored by manipulator, while be operated according to the control signal of storage, with admittedly
Fixed control signal is operated replacing original control program, it is not necessary to be programmed, then needs to change the work of mechanical hand
Operation mode is, it is only necessary to by the system a set of control signal of typing again.
The manipulator includes mechanical finger, quantity phase of the lower bit processor quantity at least with mechanical finger
Together.The tip sensor quantity being connected on lower bit processor is at least identical with the quantity of lower bit processor.The bottom
Processor quantity is at least identical with the quantity of mechanical finger.Each mechanical finger is corresponding with the finger of an operator, while
Each one finger of lower bit processor correspondence, therefore, the quantity of lower bit processor is at least identical with the quantity of mechanical finger.End
Sensor is connected on finger, each one finger of lower bit processor correspondence, thus the quantity of tip sensor at least with bottom
The quantity of processor is identical.
The intermediate sensor quantity being connected on lower bit processor is one.Generally, only meeting on an arm
An intermediate sensor is only needed in connection one palm, therefore set of system can make system worked well.
The present invention compared with prior art, has the following advantages and advantages：
1st, the system of a kind of employing motion capture technology Aided Machine arm work of the invention, using the fortune for catching human hand
It is dynamic that mechanical arm is controlled, without the need for complicated programming, strong adaptability；
2nd, the system of a kind of employing motion capture technology Aided Machine arm work of the invention, improving cost are low, can be based on
Existing equipment is transformed.
Description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is present system structural representation.
Specific embodiment
For making the object, technical solutions and advantages of the present invention become more apparent, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and the exemplary embodiment of the present invention and its explanation are only used for explaining the present invention, do not make
For limitation of the invention.
Embodiment
As shown in figure 1, a kind of system of employing motion capture technology Aided Machine arm work of the invention, for catching handss
The typing to mechanical arm working signal is realized in the motion of arm, palm and a finger, including manipulator, also including upper
Position machine and the next process of host computer connection control communication module, the upper level sensor of host computer connection and host computer connection
Device and the intermediate sensor and the tip sensor being connected with lower bit processor of the connection of lower bit processor；Manipulator includes
Field controller, the field communications module being connected on field controller, the data base being connected on field controller, it is connected to
Mechanical arm, the mechanical palms being connected on field controller on field controller, the machinery being connected on field controller
Finger, the arm feedback transducer being connected on field controller, the palm feedback transducer being connected on field controller, company
The finger feedback transducer being connected on field controller, manipulator are carried out with control communication module by field communications module
Communication, communication protocol adopt RS-485 standards；Microcomputer of the host computer using Intel Xeon E5 processors, data base are adopted
With hard disk, lower bit processor adopts MC9S12H, field controller to adopt S12MagniV, the upper level sensor, middle detector
Device, lower level sensor, arm feedback transducer, palm feedback transducer and finger feedback transducer adopt tri- axles of MPU6050
Gyroscope chip, three-axis gyroscope can determine the position in 6 directions simultaneously, and motion track accelerates.It is when system works, upper
Sensor is arranged on the arm of operator, and intermediate sensor is arranged on the palm of operator, and tip sensor is arranged on behaviour
On the finger of work person.As upper level sensor is arranged on arm, upper level sensor gathers the three-axis moving state of itself and is
The three-axis moving state of arm, the kinestate of the palm of intermediate sensor detection in the same manner, tip sensor detect the motion of finger
The data is activation for detecting passes to lower bit processor, lower bit processor by state, intermediate sensor and tip sensor by middle
Host computer, the number that slave computer is sent by host computer are sent to after the Data Integration that the data that sensor sends are sent with tip sensor
Control signal is sent by field communications module after Data Matching being carried out according to the data sent with upper level sensor by same time
To manipulator, manipulator is stored in control signal in data base, and field controller extracts the control in data base
Signal, the upper motor data of the transmission of upper level sensor are extracted, and the arm sent with reference to arm feedback transducer is anti-
After feedback signal, it is processed into arm control signal and is sent to mechanical arm；The intermediary movements data of the transmission of intermediate sensor are extracted
Out, after with reference to the palm feedback signal of palm feedback transducer transmission, it is processed into palm control signal and is sent to mechanical palms；
The end movement data of the transmission of tip sensor are extracted, with reference to the finger feedback signal that finger feedback transducer sends
Afterwards, it is processed into finger control signal and is sent to mechanical finger, mechanical arm, mechanical palms, mechanical finger is controlled according to corresponding
Signal carries out action.The manipulator includes mechanical finger, number of the lower bit processor quantity at least with mechanical finger
Amount is identical.The tip sensor quantity being connected on lower bit processor is at least identical with the quantity of lower bit processor.It is described
Lower bit processor quantity is at least identical with the quantity of mechanical finger.Each mechanical finger is corresponding with the finger of an operator,
While each one finger of lower bit processor correspondence, therefore, the quantity of lower bit processor is at least identical with the quantity of mechanical finger.
Tip sensor is connected on finger, each one finger of lower bit processor correspondence, thus the quantity of tip sensor at least with
The quantity of lower bit processor is identical.The intermediate sensor quantity being connected on lower bit processor is one.Generally, one
An intermediate sensor is only needed to during a palm, therefore set of system can be connected only on individual arm can make the normal work of system
Make.
Above-described specific embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, the be should be understood that specific embodiment that the foregoing is only the present invention is not intended to limit the present invention
Protection domain, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc. all should include
Within protection scope of the present invention.
Claims (5)
1. the system that a kind of employing motion capture technology Aided Machine arm works, including manipulator, it is characterised in that also
Including host computer and the bottom of host computer connection control communication module, the upper level sensor of host computer connection and host computer connection
Processor and the intermediate sensor and the tip sensor being connected with lower bit processor of the connection of lower bit processor；
Manipulator：The control signal that control communication module sends is received, control signal is stored and according to the control of storage
Signal is operated；
Control communication module：The control signal that host computer sends is received, the control signal that host computer is sent is sent to after processing
Manipulator；
Host computer：The digital signal that hand motion acquisition module sends is received, the digital signal for receiving is converted into into control letter
Control communication module is sent to after number；
Upper level sensor：The detection three-axis moving state processing of itself is upper motor data is activation to host computer；
Lower bit processor：Receive the end movement number that the intermediary movements data and tip sensor of intermediate sensor transmission send
According to being integrated into lower motor data is activation to host computer；
Intermediate sensor：The detection three-axis moving state processing of itself gives lower bit processor for intermediary movements data is activation；
Tip sensor：The detection three-axis moving state processing of itself gives lower bit processor for end movement data is activation.
2. the system that a kind of employing motion capture technology Aided Machine arm according to claim 1 works, its feature exist
In when system works, upper level sensor is arranged on the arm of operator, and intermediate sensor is arranged on the palm of operator
On, tip sensor is arranged on the finger of operator.
3. the system that a kind of employing motion capture technology Aided Machine arm according to claim 1 works, its feature exist
In the manipulator includes mechanical finger, and the lower bit processor quantity is at least identical with the quantity of mechanical finger.
4. the system that a kind of employing motion capture technology Aided Machine arm according to claim 3 works, its feature exist
In the tip sensor quantity being connected on lower bit processor is at least identical with the quantity of lower bit processor.
5. the system that a kind of employing motion capture technology Aided Machine arm according to claim 3 works, its feature exist
In the intermediate sensor quantity being connected on lower bit processor is one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611079994.6A CN106514601A (en) | 2016-11-30 | 2016-11-30 | System for assisting manipulator arm to work with motion capture technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611079994.6A CN106514601A (en) | 2016-11-30 | 2016-11-30 | System for assisting manipulator arm to work with motion capture technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106514601A true CN106514601A (en) | 2017-03-22 |
Family
ID=58354148
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611079994.6A Pending CN106514601A (en) | 2016-11-30 | 2016-11-30 | System for assisting manipulator arm to work with motion capture technology |
Country Status (1)
| Country | Link |
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| CN (1) | CN106514601A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107511827A (en) * | 2017-09-29 | 2017-12-26 | 武汉康车自动化设备有限公司 | It is a kind of by catching leg action come the device of control machinery arm |
| CN109269483A (en) * | 2018-09-20 | 2019-01-25 | 国家体育总局体育科学研究所 | A kind of scaling method of motion capture node, calibration system and calibration base station |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107511827A (en) * | 2017-09-29 | 2017-12-26 | 武汉康车自动化设备有限公司 | It is a kind of by catching leg action come the device of control machinery arm |
| CN109269483A (en) * | 2018-09-20 | 2019-01-25 | 国家体育总局体育科学研究所 | A kind of scaling method of motion capture node, calibration system and calibration base station |
| CN109269483B (en) * | 2018-09-20 | 2020-12-15 | 国家体育总局体育科学研究所 | Calibration method, calibration system and calibration base station for motion capture node |
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Application publication date: 20170322 |