CN107225573A - The method of controlling operation and device of robot - Google Patents
The method of controlling operation and device of robot Download PDFInfo
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- CN107225573A CN107225573A CN201710541556.5A CN201710541556A CN107225573A CN 107225573 A CN107225573 A CN 107225573A CN 201710541556 A CN201710541556 A CN 201710541556A CN 107225573 A CN107225573 A CN 107225573A
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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
- B25J9/1656—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
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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
- B25J9/1656—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
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- 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
- G05B2219/40519—Motion, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the control method of robot motion and device.The control method includes：Using depth transducer, the three-dimensional coordinate of human skeleton node is gathered by frame；According to the three-dimensional coordinate, the angle of the bone node is calculated by space vector algorithm；The angle is sent to robot in the form of instructing, the angle of the robot in the instruction is performed corresponding action.The present invention utilizes depth transducer, by the three-dimensional coordinate of each bone node during frame collection human action, pass through space vector algorithm, the angle of the motion of bone node can be calculated, these angles are sent to robot by instruction, robot steering wheel can just perform corresponding action according to these angles, allow the robot to imitation, the action of duplicator, it is not necessary to which programming personnel individually carries out three-dimensional animation programming to each steering wheel；And include the instruction of some frames within one second, the action of robot is more accurate, smooth.
Description
Technical field
The present invention relates to the method for controlling operation and device of robotic technology field, more particularly to robot.
Background technology
Robotic programming refers to make robot complete the sequence of movement description that certain task is set.Robot motion and
The instruction of operation is controlled by program, and common preparation method has two kinds：Teaching programmed method and off-line programing method.
Wherein teaching programmed method includes teaching, editor and track reproducing, can pass through two kinds of ways of the teaching of teaching box and guiding type teaching
Realize in footpath.Off-line programing method is to utilize computer graphics achievement, sets up geometrical model by graphics process instrument, passes through one
A little planning algorithms obtain work planning track.
At present, robot motion programming is generally basede on PC platforms, and programming personnel needs more professional three-dimensional animation knowledge
And technical background, it is programmed in particular for the joint freedom degrees for combining body mechanics and robot, relatively more difficult to grasp, action
The degree of accuracy can be influenceed by programming personnel's technical merit, be also easy to occur some unnatural, slack situations of action.
The content of the invention
It is an object of the invention to propose the method for controlling operation and device of robot, robot can be allowed directly to simulate people
Action, it is not necessary to robot steering wheel is programmed.
For up to this purpose, the present invention uses following technical scheme：
On the one hand, the present invention provides a kind of control method of robot motion, including：
Using the three-dimensional system of coordinate of depth transducer, the three-dimensional coordinate of human skeleton node is gathered by frame；
According to the three-dimensional coordinate, the angle of the bone node is calculated by space vector algorithm；
The angle is sent to robot in the form of instructing, the angle of the robot in the instruction is held
The corresponding action of row.
Wherein, according to the three-dimensional coordinate, the angle of the bone node is calculated by space vector algorithm, including：
If the bone node is the first joint, the bone node for taking adjacent with first joint and remote trunk is
Second joint；
First joint is connected the first limbs of composition with the second joint；
According to the three-dimensional coordinate, the movement angle of first limbs in the horizontal plane is calculated by space vector algorithm
With the movement angle on vertical plane.
Wherein, according to the three-dimensional coordinate, the fortune of first limbs in the horizontal plane is calculated by space vector algorithm
Dynamic angle and the movement angle on vertical plane, including：
According to the three-dimensional coordinate in first joint and the three-dimensional coordinate of the second joint, first limbs are represented
For primary vector；
The primary vector and the angle of the Y-axis of the three-dimensional system of coordinate are calculated, as first limbs in vertical plane
On movement angle；
The angle of the primary vector and the Z axis of the three-dimensional system of coordinate is calculated, as first limbs in horizontal plane
On movement angle.
Further, according to the three-dimensional coordinate, the angle of the bone node is calculated by space vector algorithm, also
Including：
If the bone node is second joint, the bone node for taking adjacent with the second joint and remote trunk is
3rd joint；
The second joint is connected the second limbs of composition with the 3rd joint；
According to the three-dimensional coordinate, calculated by space vector algorithm between first limbs and second limbs
Angle.
Wherein, according to the three-dimensional coordinate, first limbs and second limbs are calculated by space vector algorithm
Between angle, including：
According to the three-dimensional of the three-dimensional coordinate in first joint, the three-dimensional coordinate of the second joint and the 3rd joint
First limbs are expressed as primary vector by coordinate, and second limbs are expressed as into secondary vector；
The angle between the primary vector and the secondary vector is calculated, as described first limbs and second limb
Angle between body.
Further, after the three-dimensional coordinate for gathering human skeleton node by frame using depth transducer, in addition to：
According to the displacement of the skeletal joint in a frame, the movement velocity of the bone node is calculated；
The movement velocity is sent to robot in the form of instructing, makes the fortune of the robot in the instruction
Dynamic speed performs corresponding action.
Wherein, the displacement according to the skeletal joint in a frame, calculates the movement velocity of the bone node, including：
Using the skeletal joint previous frame three-dimensional coordinate as initial state position；
Using the skeletal joint present frame three-dimensional coordinate as final states position；
The displacement is distance of the final states position to the initial state position；
The time span of movement velocity=displacement of the bone node/each frame.
Second aspect, the present invention provides a kind of control method of robot motion, including：
Received in frames includes the instruction of the angle of each bone node；
The angle in the instruction performs corresponding action.
The third aspect, the present invention provides a kind of control device of robot motion, including：
Depth transducer, the three-dimensional coordinate for gathering human skeleton node by frame；
Microprocessor, the angle for calculating the bone node by space vector algorithm；
Network communication equipment, for the angle to be sent into robot in the form of instructing, makes robot according to described
The angle in instruction performs corresponding action.
Fourth aspect, the present invention provides a kind of control device of robot motion, including：
Command reception module, the instruction of the angle of each bone node is included for received in frames；
Action executing module, corresponding action is performed for the angle in the instruction.
Beneficial effects of the present invention are：
The present invention utilizes depth transducer, by the three-dimensional coordinate of each bone node during frame collection human action, leads to
Space vector algorithm is crossed, the angle of the motion of bone node can be calculated, these angles are sent to robot, machine by instruction
Device people steering wheel can just perform corresponding action according to these angles, allow the robot to imitation, the action of duplicator, it is not necessary to compile
Cheng personnel individually carry out three-dimensional animation programming to each steering wheel；And include the instruction of some frames within one second, robot
Action is more accurate, smooth.
Brief description of the drawings
Fig. 1 is the flow chart of the control method of robot motion in the embodiment of the present invention one.
Fig. 2 is the bone node schematic diagram of robot in the embodiment of the present invention one.
Fig. 3 is the flow chart of the control method of robot motion in the embodiment of the present invention two.
Fig. 4 is the structural representation of the control device of robot motion in the embodiment of the present invention three.
Fig. 5 is the structural representation of the control device of robot motion in the embodiment of the present invention four.
Embodiment
For make present invention solves the technical problem that, the technical scheme that uses and the technique effect that reaches it is clearer, below
The technical scheme of the embodiment of the present invention will be described in further detail with reference to accompanying drawing, it is clear that described embodiment is only
It is a part of embodiment of the invention, rather than whole embodiments.
Embodiment one
The present embodiment provides a kind of control method of robot motion, and the action for gathering people is imitated, again for robot
System, is generally performed by a kind of control device of robot motion, and the device is realized by software and/or hardware, is typically integrated in
Computer and its auxiliary equipment.
As shown in figure 1, the control method of the robot motion comprises the following steps：
S11, using depth transducer, the three-dimensional coordinate of human skeleton node is gathered by frame.
Depth transducer is generally CMOS infrared sensors (infrared camera), by infrared imaging, by its visual field
Image represent that form a width depth image, black represents infinity by the form of black and white spectrum, it is pure white represent it is infinitely near,
Different gray scales have corresponded to object to the different distance of sensor.Depth transducer catches the human body moved in depth image, by people
Body is separated with background, and tells human body different parts；Skeleton binding is carried out for human body, the position of each bone node is followed the trail of
Put, by the coordinate that each bone node is drawn after calculating.In the three-dimensional system of coordinate of depth transducer, people faces depth transducer,
Direction straight up is Y-axis positive direction, and the direction of level to the right is X-axis positive direction, and horizontal rearwardly direction is that Z axis is square
To.
The people for act collection is located at before the infrared camera of depth transducer, at it within sweep of the eye, it would be desirable to
The action modeling of robot completion one time, depth transducer gathers depth image by frame, follows the trail of and calculates human skeleton section
The three-dimensional coordinate of point.
S12, according to the three-dimensional coordinate, the angle of the bone node is calculated by space vector algorithm.
Fig. 2 is the bone node schematic diagram of robot in the embodiment of the present invention one.As shown in Fig. 2 first joint 101
For shoulder joint or hip joint, the second joint 102 is elbow joint or knee joint, and first limbs 111 are upper arm or thigh；
XYZ in the three-dimensional system of coordinate such as Fig. 2 of depth transducer.
If the bone node is the first joint 101, bone adjacent with first joint 101 and away from trunk is taken
Node is second joint 102；First joint 101 is connected the first limbs 111 of composition with the second joint 102；According to institute
Three-dimensional coordinate is stated, first limbs 111 movement angle β in the horizontal plane is calculated and in vertical plane by space vector algorithm
On movement angle α.
The three-dimensional coordinate in first joint 101 is A (x1,y1,z1), the three-dimensional coordinate of the second joint 102 is B
(x2,y2,z2), then first limbs 111 are expressed as vectorTake Y-axis
Unit vectorThe angle α for obtaining first limbs 111 and Y-axis positive direction can then be calculated, i.e., described
Movement angle of one limbs 111 on vertical plane.As shown in Fig. 2 by taking the left upper arm of robot as an example, the line of left upper arm will be represented
Duan Pingyi makes left shoulder joint overlap (in figure shown in dotted line) with the origin of coordinates, then ∠ α are motion angle of the left upper arm on vertical plane
Degree.
Take the unit vector of Z axisThe angle β of first limbs 111 and Z axis negative direction is calculated,
The movement angle of i.e. described first limbs 111 in the horizontal plane, ∠ β as shown in Figure 2.
First movement angle of limbs 111 in the horizontal plane and the movement angle on vertical plane determine the first limbs
111 position in three dimensions.And first limbs can be learnt from the change of the Y-coordinate of the second joint 102
111 motion state, if Y-coordinate value increases, then it represents that first limbs 111 are upward lift, if Y-coordinate value reduces, table
It is to the bottom to show first limbs 111.
Or, first limbs 111 are projected in YOZ planes, the projection and the angle of Z axis negative direction are the first limb
The movement angle of the in the vertical direction of body 111；First limbs 111 are projected in XOZ planes, the projection is square with X-axis
To angle be the movement angle of the first limbs 111 in the horizontal direction.
If the bone node is second joint 102, bone adjacent with the second joint 102 and away from trunk is taken
Node is the 3rd joint 103；The second joint 102 is connected the second limbs 112 of composition with the 3rd joint 103；According to institute
Three-dimensional coordinate is stated, the angle γ between first limbs 111 and second limbs 112 is calculated by space vector algorithm.
As shown in Fig. 2 the 3rd joint 103 is wrist joint or ankle-joint, the second limbs 112 are forearm or shank.
The three-dimensional coordinate in first joint 101 is A (x1,y1,z1), the three-dimensional seat of the second joint 102
It is designated as B (x2,y2,z2), the three-dimensional coordinate in the 3rd joint 103 is C (x3,y3,z3), then first limbs 111
It is expressed as vectorSecond limbs 112 are expressed as vectorDue to A, B, C, 3 points are sequentially connected, and calculate in a space plane
VectorWith vectorAngle γ, the angle between as described first limbs 111 and second limbs 112, i.e. elbow
Angle at joint or knee joint.As shown in Fig. 2 ∠ γ are the angle of upper arm and forearm, or thigh and shank angle.
S13, robot is sent to by the angle in the form of instructing, and makes the angle of the robot in the instruction
Degree performs corresponding action.
In units of frame, the angle of each the bone node calculated is sent to robot in the form of instructing, or
Person by instruction upload onto the server it is middle preserve, be sent to robot when needing robot motion, then by server.Robot is received
To after instruction, the robot steering wheel on bone node can control corresponding robot limb to move according to the angle, make it
Go out the same or analogous action of demonstration movement with people.
Depth transducer first can be filtered when gathering the three-dimensional coordinate of each bone node to depth image, then to sitting
Mark data are screened, and by the relatively low rejection of data of confidence level, only retain data with a high credibility, advantage of this is that, when
When frame number is more in one second, robot can be carried out certain data screening, can mitigated because data volume is huge and interim card occurs
The data processing load of robot, reliable data can make robot more smooth and true in action.
But, when the frame number that depth transducer is given up is more, robot is after the action of present frame is completed, it is not known that
Even how several frames act next frame backward, therefore, and gathering the three-dimensional of human skeleton node by frame using depth transducer sits
After mark, in addition to：
According to the displacement of the skeletal joint in a frame, the movement velocity of the bone node is calculated；By the motion
Speed is sent to robot in the form of instructing, and performs the movement velocity of the robot in the instruction corresponding dynamic
Make.
So, in the angle-data missing of next frame, robot can be continued executing with according to the movement velocity of present frame
Action, it is to avoid robot because no angle-data refers to and stopping action.
In the case of having tens frames in one second, the duration of a frame is very short, and the motion of a frame in bone node can be considered as directly
Line is moved, therefore,
With the skeletal joint previous frame three-dimensional coordinate D1(x4,y4,z4) it is initial state position；
With the skeletal joint present frame three-dimensional coordinate D2(x5,y5,z5) it is final states position；
The displacement is distance of the final states position to the initial state position, i.e.,
Calculate one second in each frame time span t, then movement velocity=displacement of the bone node/each frame when
Between length, i.e.,
The present embodiment utilizes depth transducer, by the three-dimensional coordinate of each bone node during frame collection human action,
By space vector algorithm, the angle and movement velocity of the motion of bone node can be calculated, by these angles and movement velocity
Robot is sent to by instruction, robot steering wheel performs corresponding action with regard to the limbs of energy control machine people, enables robot
Enough imitations, the action of duplicator, it is not necessary to which programming personnel individually carries out three-dimensional animation programming to each steering wheel；And within one second
Include the instruction of some frames, the action of robot is more accurate, smooth.
Embodiment two
The present embodiment provides a kind of control method of robot motion, applied to robot, passes through the control method, machine
Device people is capable of the action of duplicator；The control method is performed by a kind of motion control device of robot, and the device is by soft
Part and/or hardware are realized, are typically integrated in robot interior.
Fig. 3 is the flow chart of the control method of robot motion in the embodiment of the present invention two.As shown in figure 3, the control
Method comprises the following steps：
S21, received in frames includes the instruction of the angle of each bone node.
Robot receives the instruction generated in above-described embodiment by network, and each one instruction of frame, instruction includes respectively
The angle of bone node, also includes the movement velocity of bone node if necessary.
S22, the angle in the instruction performs corresponding action.
The parsing instruction, obtains the angle of each bone node, and the corresponding joint rotation of robot servos control makes machine
Device people makes the action that the instruction is represented.
In the present embodiment, after robot received in frames instruction, steering wheel is performed according to the angle in instruction, it is not necessary to compiled
Cheng personnel are individually programmed to each steering wheel, and the implementing result of robot is expected.And instructing can preserve and answer
System, can allow robot to repeat when any required.
Embodiment three
The present embodiment provides a kind of control device of robot motion, for performing the control method described in embodiment one,
Identical technical problem is solved, same technique effect is reached, the device is generally computer and its auxiliary equipment.
Fig. 4 is the structural representation of the control device of robot motion in the embodiment of the present invention three.As shown in figure 4, described
Control device includes：
Depth transducer 31, the three-dimensional coordinate for gathering human skeleton node by frame
Microprocessor 32, the angle for calculating the bone node by space vector algorithm.
Network communication equipment 33, for the angle to be sent into robot in the form of instructing, makes robot according to institute
State the angle in instruction and perform corresponding action.
In the present embodiment, depth transducer can be with one second more than ten frame even the frequency collection human skeleton section of tens frames
The three-dimensional coordinate of point, after microprocessor is calculated, obtains the movement angle of each bone node, then by network by these angles
Degree instruction is sent to robot, and people need not be programmed by robot is performed according to the angle in corresponding action, whole process
Member is programmed to steering wheel, before needing robot to complete any action, and someone carries out action modeling and gathered, convenient
Dependency degree reduction that is easy-to-use, programming more.
Example IV
The present embodiment provides a kind of control device of robot motion, for performing the control method described in embodiment two,
The device is arranged in robot, and robot can be made to make same or analogous action according to the action modeling of people.
Fig. 5 is the structural representation of the control device of robot motion in the embodiment of the present invention four.As shown in figure 5, described
Control device includes：
Command reception module 41, the instruction of the angle of each bone node is included for received in frames；
Action executing module 42, corresponding action is performed for the angle in the instruction.
In the present embodiment, after robot received in frames instruction, action executing module (i.e. steering wheel) is according to the angle in instruction
Execution, it is not necessary to which programming personnel is individually programmed to each steering wheel, the implementing result of robot is expected.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed in any way.Based on explanation herein, the technology of this area
Personnel, which would not require any inventive effort, can associate other embodiments of the present invention, and these modes are fallen within
Within protection scope of the present invention.
Claims (10)
1. a kind of control method of robot motion, it is characterised in that including：
Using the three-dimensional system of coordinate of depth transducer, the three-dimensional coordinate of human skeleton node is gathered by frame；
According to the three-dimensional coordinate, the angle of the bone node is calculated by space vector algorithm；
The angle is sent to robot in the form of instructing, the angle of the robot in the instruction is performed phase
The action answered.
2. control method according to claim 1, it is characterised in that according to the three-dimensional coordinate, calculated by space vector
Method calculates the angle of the bone node, including：
If the bone node is the first joint, it is second to take adjacent with first joint and away from trunk bone node
Joint；
First joint is connected the first limbs of composition with the second joint；
According to the three-dimensional coordinate, by space vector algorithm calculate first limbs movement angle in the horizontal plane and
Movement angle on vertical plane.
3. control method according to claim 2, it is characterised in that according to the three-dimensional coordinate, calculated by space vector
Method calculates the movement angle of the first limbs in the horizontal plane and the movement angle on vertical plane, including：
According to the three-dimensional coordinate in first joint and the three-dimensional coordinate of the second joint, first limbs are expressed as
One vector；
The primary vector and the angle of the Y-axis of the three-dimensional system of coordinate are calculated, as first limbs on vertical plane
Movement angle；
Calculate the angle of the Z axis of the primary vector and the three-dimensional system of coordinate, as first limbs in the horizontal plane
Movement angle.
4. control method according to claim 2, it is characterised in that according to the three-dimensional coordinate, calculated by space vector
Method calculates the angle of the bone node, in addition to：
If the bone node is second joint, it is the 3rd to take adjacent with the second joint and away from trunk bone node
Joint；
The second joint is connected the second limbs of composition with the 3rd joint；
According to the three-dimensional coordinate, the folder between first limbs and second limbs is calculated by space vector algorithm
Angle.
5. control method according to claim 4, it is characterised in that according to the three-dimensional coordinate, calculated by space vector
Method calculates the angle between first limbs and second limbs, including：
Sat according to the three-dimensional in the three-dimensional coordinate in first joint, the three-dimensional coordinate of the second joint and the 3rd joint
First limbs are expressed as primary vector, second limbs are expressed as into secondary vector by mark；
Calculate the angle between the primary vector and the secondary vector, as described first limbs and second limbs it
Between angle.
6. control method according to claim 1, it is characterised in that gather human skeleton by frame using depth transducer
After the three-dimensional coordinate of node, in addition to：
According to the displacement of the skeletal joint in a frame, the movement velocity of the bone node is calculated；
The movement velocity is sent to robot in the form of instructing, makes motion speed of the robot in the instruction
Degree performs corresponding action.
7. control method according to claim 6, it is characterised in that according to the displacement of the skeletal joint in a frame,
The movement velocity of the bone node is calculated, including：
Using the skeletal joint previous frame three-dimensional coordinate as initial state position；
Using the skeletal joint present frame three-dimensional coordinate as final states position；
The displacement is distance of the final states position to the initial state position；
The time span of movement velocity=displacement of the bone node/each frame.
8. a kind of control method of robot motion, it is characterised in that including：
Received in frames includes the instruction of the angle of each bone node；
The angle in the instruction performs corresponding action.
9. a kind of control device of robot motion, it is characterised in that including：
Depth transducer, the three-dimensional coordinate for gathering human skeleton node by frame；
Microprocessor, the angle for calculating the bone node by space vector algorithm；
Network communication equipment, for the angle to be sent into robot in the form of instructing, makes robot according to the instruction
In the angle perform corresponding action.
10. a kind of control device of robot motion, it is characterised in that including：
Command reception module, the instruction of the angle of each bone node is included for received in frames；
Action executing module, corresponding action is performed for the angle in the instruction.
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