CN107639620A - A kind of control method of robot, body feeling interaction device and robot - Google Patents
A kind of control method of robot, body feeling interaction device and robot Download PDFInfo
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- CN107639620A CN107639620A CN201710910785.XA CN201710910785A CN107639620A CN 107639620 A CN107639620 A CN 107639620A CN 201710910785 A CN201710910785 A CN 201710910785A CN 107639620 A CN107639620 A CN 107639620A
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Abstract
The invention discloses a kind of control method of robot, body feeling interaction device and robot, control method to include：Body feeling interaction device gathers the rotational angle of target body limbs joint, the angle information collected is calculated, the posture or action to target body carry out analysis identification；The body feeling interaction instruction according to corresponding to producing the analysis recognition result got；Body feeling interaction instruction is sent to robot, robot performs body feeling interaction instruction；Robot gathers oneself ambient condition information, such as fingertip pressure information and whole body image information simultaneously, feeds back to target body by body feeling interaction device.Traditional control mode to robot is not only breached through the above way, and also has the display of 3D rendering by way of touch feedback, allows user to obtain the operating experience of immersion in big degree.It is not only the operational error rate for easily operating and substantially reducing obtained from therewith, while more lively operating experience is also brought to user.
Description
【Technical field】
The present invention relates to intelligent terminal technical field and field of virtual reality, more particularly to a kind of control of robot
Method, body feeling interaction device and robot.
【Background technology】
Along with virtual reality technology, augmented reality, the appearance of haptic feedback technology and intelligent robot, people
There are more and more different complete new experiences in vision and tactile.
For example, at present for robot mode of operation generally by remote control or manual touch-control, this is to making
The operation of user brings many inconveniences and for beginner nor fine grasp, while operational error rate is higher,
Prevent user is from the vivid world for experiencing robot.
【The content of the invention】
The present invention solves the technical problem of provide a kind of control method of robot, body feeling interaction device and machine
Device people.The present invention not only breaches traditional control mode to robot, and by way of touch feedback and 3D figures
The display of picture, user is at utmost allowed to obtain the operating experience of immersion.Be not only obtained from therewith convenient operation and
The operational error rate substantially reduced, while more lively operating experience is also brought to user.
In order to solve the above technical problems, one aspect of the present invention is：
The control method of a robot is provided, the control method comprises the following steps：
Step 1, body feeling interaction device collection target body limbs joint angle information is first passed through, according to the target collected
Human body limb joint angles information carries out limb motion angle recognition to target body；
Step 2, body feeling interaction device is further according to body corresponding to the limb motion angle result generation of the target body of identification
Feel interactive instruction；
Step 3, body feeling interaction device again sends body feeling interaction instruction to robot, and robot performs body feeling interaction and referred to
Order.
In the step 1, body feeling interaction device collection target body limbs joint movement angle, according to the target collected
The step of human body limb joint angles information carries out limb motion angle recognition to target body specifically includes：
Step 1.1, the Eulerian angles in each joint of target body limbs are gathered；
Step 1.2, the Eulerian angles of the target body collected in step 1.1 are converted into spin matrix, then by spin moment
Battle array brings the algorithm for resolving human body relative attitude into, calculates the result of each joint relative motion attitude angle of human body.
In the step 2, body feeling interaction instruction includes the execution of robot motion posture, robot direction of advance adjustment, machine
Device people pace adjusts, robot GPS automatic driving modes conversion and the collection of robot fingertip pressure data.
In the step 3, when robot performs body feeling interaction instruction：
The robot fingertip pressure that robot is obtained by the fingertip pressure sensing unit in robot under current environment is believed
Breath, and fingertip pressure information is sent to body feeling interaction device, so that fingertip pressure information has been converted into by body feeling interaction device
The vibration of gradient, and give the vibrational feedback to the target body；
Robot obtains first under current environment by the first camera in robot and second camera respectively
View data and the second view data, and the first view data and the second view data are sent to body feeling interaction device,
So that body feeling interaction device will be shown after the first view data and the second view data synthesis 3D rendering；
Robot obtains the machine by the GPS module in robot, electronic compass and power supply real time monitoring apparatus
The real-time attitude information of people and power information, and robot pose information and power information are sent to body feeling interaction and filled
Put, so that body feeling interaction device is shown after integrating robot pose information and power information.
Using communication transmission data between body feeling interaction device and robot.
A kind of body feeling interaction device, including control unit, it is single that the collection of human body limb joint angles is connected with control unit
Member, touch feedback unit and transmitting element；
Human body limb joint angles collecting unit：For gathering target body joint angles information；
Control unit：For the target body joint angles information conversion for gathering human body limb joint angles collecting unit
Into the body feeling interaction instruction for robot motion, and the fingertip pressure information of the robot of acquisition is converted into touch feedback list
The signal that member can identify；
Touch feedback unit：The signal that the fingertip pressure information of robot for control unit to be obtained is converted turns
Change into the positively related vibration for having gradient of fingertip pressure information, and by the vibrational feedback for having gradient to target body；
Transmitting element：Body feeling interaction instruction for control unit to be generated is sent to robot.
The body feeling interaction device also includes the receiving unit and display unit being connected with control unit；
Receiving unit：The information sent for receiving machine human hair；
Display unit：For showing fingertip pressure information, robot pose information and robot power supply information, and by machine
The first image information and the second image information of device people collection synthesize 3D rendering and shown.
The display unit is virtual reality head-mounted display apparatus.
A kind of robot, including control unit, fingertip pressure sensing unit, receiving unit, hair are connected with control unit
Send unit, image acquisition units, execution unit and monitoring unit；
Receiving unit：For receiving the body feeling interaction instruction of body-sensing interactive device transmission；
Fingertip pressure sensing unit：For gathering robot fingertip pressure information；
Image acquisition units：For gathering the view data for being used for generating 3D rendering；
Monitoring unit：For gathering robot attitude information itself and power information；
Control unit：For the information acquired in fingertip pressure sensing unit, image acquisition units and monitoring unit to be led to
Cross transmitting element and be transferred to body feeling interaction device, and the body feeling interaction instruction that receiving unit is received is sent to execution unit；
Transmitting element：Data message for robot to be collected is sent to body feeling interaction device；
Execution unit：The instruction and execution of reception control unit.
Image acquisition units include the first camera and second camera, the first camera and second camera and control list
Member connection.
Compared with prior art, advantage of the invention is that：
The control method of the robot of the present invention gathers target body limbs joint angle information by body feeling interaction device,
Limb motion angle recognition is carried out to target body according to the target body limbs joint angle information collected, then passes through identification
Body feeling interaction instruction is sent to robot, robot hold again by as a result body feeling interaction instruction corresponding to generation, body feeling interaction device
Row body feeling interaction instructs, therefore the control method of the robot of the present invention breaches traditional control mode to robot, energy
Enough so that the operational error rate that robot is easily operated and substantially reduced, while more lively behaviour is also brought to user
Experience.
Further, the present invention introduces the concept of feedback in motion sensing control, by robot context situation profit
Gathered with a series of sensors and feed back to body feeling interaction device, using 3D rendering and have the vibrational feedback of gradient to target body
Itself, therefore the control method of the robot of the present invention can make operator obtain immersion control machine people by body feeling interaction
Operating experience, not only enrich control mode of the prior art to robot, and without again by other equipment to machine
People is controlled, the hardware device required for also simplify robot control system while Consumer's Experience is improved, and reduces life
Cost is produced, simple to operate, left-hand seat is convenient, can also substantially reduce operational error rate.
【Brief description of the drawings】
Fig. 1 is the conceptual model when control method of robot of the present invention is implemented；
Fig. 2 is the schematic flow sheet of the control method embodiment one of robot of the present invention；
Fig. 3 is the schematic flow sheet of another embodiment of control method of robot of the present invention；
Fig. 4 is fingertip pressure collection and the structural representation of haptic feedback system of robot of the present invention；
Fig. 5 is fingertip pressure collection and the schematic flow sheet of haptic feedback system of robot of the present invention；
Fig. 6 is the flow chart of the 3D visual feedbacks of body feeling interaction device of the present invention；
Fig. 7 is the overall structural representation of body feeling interaction device of the present invention；
Fig. 8 is the overall structural representation of robot of the present invention.
Wherein, 101- body feeling interactions device, 102- robots, 401- robots, 402- Intelligent gloves.
【Embodiment】
It is next with reference to the accompanying drawings and examples that the present invention is further illustrated.
As shown in figure 1, conceptual model when implementing for the control method of robot of the present invention, model include body feeling interaction
Device 101 and robot 102, wherein pass through wireless connection between body feeling interaction device 101 and robot.
Wherein, the body feeling interaction device 101 realizes man-to-man wireless connection using IP is distributed with robot 102.Together
When ensure that between like product interchangeability compatibility.
In order that user possesses the operating experience of immersion, more simple and direct accurately operation robot is also allowed users to,
Body feeling interaction device 101 is combined with robot 102 by communication, by body-sensing action come control machine people,
To improve Consumer's Experience.
Specifically, body feeling interaction device 101 gathers target body limbs joint angle information, and limb is carried out to target body
The analysis identification of body movement angle, body feeling interaction instruction corresponding with recognition result is obtained, body feeling interaction instruction is sent to machine
People 102；
Robot 102 receives and performs body feeling interaction instruction：Robot 102 is taken the photograph by fingertip pressure sensing unit, first
As head and second camera, GPS module, electronic compass and power supply real time monitoring apparatus obtain robot fingertip pressure respectively
Data, the first view data and itself attitude data of the second view data, robot and robot power supply information data, and will
These data are sent to body feeling interaction device 101；
Body feeling interaction device 101 receive robot fingertip pressure data, for generate context 3D rendering data one
View data and itself attitude data of the second view data, robot and robot power supply information data, by fingertip pressure number
According to the vibrational feedback for being converted into gradient to target body, the first view data and the second view data are synthesized into 3D rendering and shown
Show, also shown after robot attitude data itself and robot power supply information data are integrated using body feeling interaction feedback device
Come.
For the apparent above-mentioned course of work of explanation, further referring to Fig. 2 and Fig. 3, robot of the invention
Control method comprises the following steps：
Step 201：Target body limbs joint angle is gathered by being deployed in the body feeling interaction control device with effector
Information is spent, obtains the Eulerian angles in human body limb each joint, using electronic gyroscope come the posture of acquisition control person's four limbs during collection；
Step 202：In order to realize that body feeling interaction operates, the Eulerian angles conversion for the target body that body feeling interaction device collects
For spin matrix, then spin matrix substituted into and resolves the algorithm of human body relative attitude to resolve human body relative attitude, the algorithm is
Each limbs of user are obtained relative to the angular pose of the earth sensor and represent it in a manner of spin matrix, to representing
The spin matrix of each limbs posture carries out matrix operation between any two, and the matrix operation, which can illustrate, to be described as, limbs B rotation
Matrix multiplication between the inverse matrix of matrix and limbs A spin matrix, then relative attitude between each limbs is calculated respectively simultaneously
Euler's angular coordinate is converted to, user's human body relative attitude or action are calculated using Euler's angular coordinate, and by the number after calculating
According to Eulerian angles are again converted into, the angle that corresponding steering wheel needs to lock is extracted；
After the articulation angle-data after getting conversion, it is also necessary to judge whether the angle-data is effective, simultaneously
Can also automatic rejection wrong data to reduce the generation of accidental error, such as user joint motions itself be it is conditional, therefore
Whether in the reasonable scope the algorithm for being used to resolve human body relative attitude described in step 202 can judge each data, be come with this
Judge whether the data are effective, if invalid abandon this gathered data immediately；
Step 203：The body feeling interaction corresponding with analysis recognition result is obtained to instruct：
Body feeling interaction device is after the limb motion angle recognition result of target body is obtained, further according to the identification knot
Being used to resolve the algorithm of human body relative attitude and refer to come body feeling interaction corresponding to generating the recognition result described in fruit and step 202
Order；
In order to further improve the accuracy rate or compatibility that obtain body feeling interaction instruction, additionally it is possible to take body-sensing and remote control
The mode that device combines issues body feeling interaction instruction, for example, carrying out complicated behaviour using the finger of somatosensory operation control machine people
Make, while the speed advanced using foot-operated remote control control machine people；
Step 204：The body feeling interaction instruction that step 203 is generated is sent to robot so that the robot performs body
Feel interactive instruction.
For example, the body feeling interaction instruction that current body feeling interaction device is sent is to change direction of advance, then robot is receiving
After being instructed to the body feeling interaction, change existing direction of advance, be adjusted to the direction that instruction requires.If current body feeling interaction refers to
Making will accelerate to advance after the instruction is received for assisted instruction, robot in existing speed.
In another embodiment, in known machine people destination, opened by body feeling interaction instruction come control machine people
Self-navigation pattern is opened, makes its automatic pathfinding to destination；For example, by body feeling interaction device and the machine of a built-in navigation module
Device people connects, and after body feeling interaction device and robot enter working condition, obtains identification using body feeling interaction device and shifts to an earlier date
Limbs posture is set, determines the instruction that the posture is robot self-navigation pattern, and destination is set by touch controlled key,
After then the robot receives self-navigation instruction, self-navigation pattern, automatic pathfinding are opened；
In another embodiment, in order that user obtains optimal immersion operating experience, that is, visual feedback is utilized
Allow users to experience the environment arround robot to greatest extent by the vision and tactile of itself with touch feedback, essence
True ground fingertip pressure feedback can also make operation of the user to robot more accurate, that is, realize the operating experience of immersion.
Fig. 3 is further regarded to, the control method of robot of the invention has following steps：
Step 301, target body joint angles information is gathered by body feeling interaction control device, the target body is entered
Row limb motion angle analysis identifies；
Step 302, body feeling interaction device generates body feeling interaction instruction corresponding with recognition result；
Step 303：Body feeling interaction device sends body feeling interaction instruction to robot, and robot performs body feeling interaction instruction
The step of after, also comprise the following steps：
Step 304:Body feeling interaction device receives the fingertip pressure that robot returns after the body feeling interaction instruction is performed
Data, the first view data and the second view data, and robot characteristic information itself；Fingertip pressure data are by robot
Fingertip pressure sensing unit is obtained, and the first view data is obtained by the camera of robot first, and the second view data is by robot
Second camera obtains；The GPS module that robot characteristic information itself is carried by robot, electronic compass and power supply are supervised in real time
Device is controlled to obtain；
Specifically, robot is put down after the body feeling interaction instruction of body feeling interaction device transmission is received by robot
Fingertip pressure sensing unit collection robot fingertip pressure data on platform, pass through the first camera on robot platform and the
Two cameras are shot to robot local environment respectively, pass through the GPS module on robot platform, electronic compass, power supply
Real-time monitoring module collection robot position itself, posture and power information data, and returned these data by wireless module
Return to body feeling interaction device；
Robot gets fingertip pressure data by fingertip pressure sensing unit, is imaged by the first camera and second
Head obtains the first view data and the second view data, is got by GPS module, electronic compass, power supply real-time monitoring module
Robot position itself, posture and this process of power information data are handed over these data are returned into body-sensing by wireless module
This process of mutual device is real-time synchronization；
Corresponding, body feeling interaction device receives fingertip pressure data, the first view data and the second view data, machine
People position itself, posture and power information data；
Step 305：Body feeling interaction device by fingertip pressure data conversion into the vibration for having gradient, by the first image and
Two view data synthesize 3D rendering, show the 3D rendering；By robot characteristic information itself, including robot real time position,
Real-time direction and spatial attitude and robot battery information centralized displaying.
In order to more really reduce tactile sensing device of robot, more real immersion operating experience is further provided the user with
Robot fingertip pressure data are converted into and the positively related vibration frequency of fingertip pressure by effect, body feeling interaction device by algorithm
Rate, the algorithm are to handle the pressure on the number information that sensor collects using condition judgment sentence and threshold value setting, will be pressed
Force information is converted to positively related vibration frequency therewith, and is restored by the vibrating device on body feeling interaction device, stimulates
User's antennal nerve；First view data and the second view data are subjected to three-dimensional fusion, compositing 3 d images, and utilize VR
3D glasses are shown；The processing of robot position itself, posture and power information graphical data is included on the boundary of VR glasses
On face.
Body feeling interaction device produces vibratory stimulation target body tactile with an Intelligent glove；It can be watched using one
3D rendering data and the VR glasses of Design of Graphical Interface can be carried out to show the real-time 3D rendering of synthesis, while utilize interface
Floating frame is designed to show the real-time position of robot, posture and power information data.
In above-mentioned implementation process, simple and convenient operating method can be not only brought to user, simultaneously because regarding
Feel the presence of feedback and touch feedback, the utilization of user's sense organ can be improved to greatest extent, give the operation of user's immersion
Experience.The sense of hearing even can be extended to, voice data is gathered using the sound transducer on robot platform and returns to body-sensing
Interactive device, transfers the sense of hearing of user, further improves the immersion operating experience of user.
It is different from prior art, the angle of rotation of the body feeling interaction device collection target body limbs joint of present embodiment
Degree, is calculated the angle information collected, the posture or action to target body carry out analysis identification using spin matrix；
Obtain body feeling interaction instruction corresponding with recognition result；Then body feeling interaction instruction is sent to robot so that robot is just
Really perform body feeling interaction instruction.The mode of above-mentioned control machine people not only breaches traditional control mode to robot, and
And also have the display of 3D rendering by way of touch feedback, largely allow user to obtain the operating body of immersion
Test.It is not only the operational error rate for easily operating and substantially reducing obtained from therewith, while is also brought more to user
For lively operating experience.
In addition, the fingertip pressure data that body feeling interaction device is returned by robot determine to feed back to the vibration of user's finger tip
Frequency, user can be by the tactiles of oneself come the vivid pressure size perceived on robot finger, and then can be more
Accurately control machine finger is exerted oneself.Meanwhile the display of 3D rendering so that user intuitively can be seen in robot eye
The world, the sense of reality that the operation of user's immersion is brought is improved, further increases the experience of user.
Refering to Fig. 4, the finger tip of robot is designed with pressure sensor, can accurately be detected when robot touches object
Robot fingertip pressure size；
The touch feedback unit of body feeling interaction device is specifically arranged on the finger tip of Intelligent glove 402 as shown in Figure 4, touches
Feel that feedback unit is used to robot fingertip pressure signal returning to body feeling interaction device, body feeling interaction device is by calculating
Afterwards, user's frequency and the positively related vibration signal of fingertip pressure signal will be fed back to by touch feedback unit.
Refering to Fig. 5, robot fingertip pressure collection of the present invention and haptic feedback system idiographic flow comprise the following steps：
Step 501：Pressure information is gathered by the pressure sensor for being deployed in manipulator finger tip during robotic contact foreign object；
Step 502：Robot again sends fingertip pressure information to body feeling interaction device, is passed using communication
It is defeated；
Step 503：The fingertip pressure information that body feeling interaction device collects to robot is handled, and is converted into vibration frequency
Rate and the positively related vibration information of fingertip pressure signal, then vibration information is sent to the body feeling interaction device touch feedback list
Member；
Step 504：The corresponding vibrating reed of finger tip performs touch feedback vibration and referred on the body feeling interaction device of user's wearing
Order, and then realize that Mechanical Touch feeds back.
When user performs the order of crawl object using body feeling interaction instruction come control machine people, robot crawl object
Dynamics vibration will be converted into by touch feedback returns to user, user can perceive robot according to finger tip vibration frequency
The size of crawl dynamics, produce a kind of vivid immersion operating experience.
It is body feeling interaction device 3D visual feedback schematic flow sheets of the present invention with reference to figure 6.The 3D visual feedback work(of the present invention
Body feeling interaction device can be needed to be realized with machine person cooperative work, embodiment comprises the following steps：
Step 601：Robot rides upon the first camera on robot platform and the after body feeling interaction instruction is performed
Two cameras gather the first view data and the second view data respectively, and return to body feeling interaction device in real time；
Step 602：Body feeling interaction device is handled by image three-dimensional and synthesizes the first view data and the second view data
3D rendering；
Step 603：3D rendering information after processing is transferred on VR glasses by body feeling interaction device in real time, so that user
Can be vivid observe robot context, give the vivid visual experience of user.
Refering to Fig. 7, Fig. 7 is the body feeling interaction apparatus structure schematic diagram of robot of the present invention, and the control of body feeling interaction device is single
Member, be connected with control unit human body limb joint angles collecting unit, touch feedback unit, transmitting element, receiving unit with
And display unit；
Human body limb joint angles collecting unit：For gathering target body joint angles information；
Control unit：For the target body joint angles information conversion for gathering human body limb joint angles collecting unit
Into the body feeling interaction instruction for robot motion, and the fingertip pressure information of the robot of acquisition is converted into touch feedback list
The signal that member can identify；
Touch feedback unit：The signal that the fingertip pressure information of robot for control unit to be obtained is converted turns
Change into the positively related vibration for having gradient of fingertip pressure information, and by the vibrational feedback for having gradient to target body；
Transmitting element：Body feeling interaction instruction for control unit to be generated is sent to robot.
Receiving unit：The information sent for receiving machine human hair；
Display unit：For showing fingertip pressure information, robot pose information and robot power supply information, and by machine
The first image information and the second image information of device people collection synthesize 3D rendering and shown.
Transmitting element uses communication so that the use of body feeling interaction device is more flexible, and the experience of user is more
Add conveniently, display unit is virtual reality head-mounted display apparatus；
In order to realize body feeling interaction control operation, human body limb joint angles collecting unit needs to supervise user's limbs joint
Superintend and direct and gathered in real time, main Eulerian angles (i.e. roll angle, the deviation angle and the angle of pitch for gathering each joint of target body limbs
Three kinds of angle informations)；Eulerian angles are substituted into the algorithm for being used to resolve human body relative attitude described in step 202, utilize spin moment
Battle array is calculated the target body limb angle signal of acquisition, and Eulerian angles are converted into spin matrix, using for resolving
The algorithm of human body relative attitude calculates the result of each joint relative attitude angle of human body；Finally give corresponding posture or dynamic
Make body feeling interaction instruction.
When user controls the robot to perform the order of crawl object using body feeling interaction instruction, robot crawl
The dynamics of object will be converted into vibration by touch feedback and return to user, and user can perceive institute according to finger tip vibration frequency
The size of robot crawl dynamics is stated, produces a kind of vivid immersion operating experience；Meanwhile after body feeling interaction device will be handled
3D rendering information be transferred in real time on VR glasses.Allow the user to it is vivid observe the robot context,
Give the vivid visual experience of user.
Refering to Fig. 8, Fig. 8 is the overall structure diagram of robot of the present invention.The robot of the present invention includes control unit,
Be connected with control unit fingertip pressure sensing unit, receiving unit, transmitting element, image acquisition units, execution unit and
Monitoring unit；
Receiving unit：For receiving the body feeling interaction instruction of body-sensing interactive device transmission；
Fingertip pressure sensing unit：For gathering robot fingertip pressure information；
Image acquisition units：For gathering the view data for being used for generating 3D rendering；
Monitoring unit：For gathering robot attitude information itself and power information；
Control unit：For the information acquired in fingertip pressure sensing unit, image acquisition units and monitoring unit to be led to
Cross transmitting element and be transferred to body feeling interaction device, and the body feeling interaction instruction that receiving unit is received is sent to execution unit；
Transmitting element：Data message for robot to be collected is sent to body feeling interaction device；
Execution unit：The instruction and execution of reception control unit.
Wherein, image acquisition units include the first camera and second camera, the first camera and second camera with
Control unit connects.
In addition, the fingertip pressure data that body feeling interaction device is returned by robot determine to feed back to the vibration of user's finger tip
Frequency, user can be by the tactiles of oneself come the vivid pressure size perceived on robot finger, and then can be more
Accurately control machine finger is exerted oneself.The display of 3D rendering simultaneously so that user intuitively can be seen in robot eye
The world, the sense of reality that the operation of user's immersion is brought is improved, further increases the experience of user.Allow robot to turn into use
The outer incarnation of the body of family truly.
Embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this
The equivalent structure transformation that description of the invention and accompanying drawing content are made, or either directly or indirectly it is used in other related technology necks
Domain, similarly it is included in scope of patent protection of the present invention.
Claims (10)
1. a kind of body feeling interaction device, it is characterised in that including control unit, human body limb joint angle is connected with control unit
Spend collecting unit, touch feedback unit and transmitting element；
Human body limb joint angles collecting unit：For gathering target body joint angles information；
Control unit：Target body joint angles information for human body limb joint angles collecting unit to be gathered is converted into using
Instructed in the body feeling interaction of robot motion, and the fingertip pressure information of the robot of acquisition is converted into touch feedback unit energy
The signal enough identified；
Touch feedback unit：The signal that the fingertip pressure information of robot for control unit to be obtained is converted is converted into
With the positively related vibration for having gradient of fingertip pressure information, and by the vibrational feedback for having gradient to target body；
Transmitting element：Body feeling interaction instruction for control unit to be generated is sent to robot.
2. body feeling interaction device according to claim 1, it is characterised in that the body feeling interaction device also includes and control
Unit connected receiving unit and display unit；
Receiving unit：The information sent for receiving machine human hair；
Display unit：For showing fingertip pressure information, robot pose information and robot power supply information, and by robot
The first image information and the second image information of collection synthesize 3D rendering and shown.
3. body feeling interaction device according to claim 2, it is characterised in that the display unit is virtual reality wear-type
Display device.
A kind of 4. robot that body feeling interaction device with described in claim 1-3 any one is adapted to, it is characterised in that including
Control unit, fingertip pressure sensing unit, receiving unit, transmitting element, image acquisition units, execution are connected with control unit
Unit and monitoring unit；
Receiving unit：For receiving the body feeling interaction instruction of body-sensing interactive device transmission；
Fingertip pressure sensing unit：For gathering robot fingertip pressure information；
Image acquisition units：For gathering the view data for being used for generating 3D rendering；
Monitoring unit：For gathering robot attitude information itself and power information；
Control unit：For the information acquired in fingertip pressure sensing unit, image acquisition units and monitoring unit to be passed through into hair
Unit is sent to be transferred to body feeling interaction device, and the body feeling interaction instruction that receiving unit is received is sent to execution unit；
Transmitting element：Data message for robot to be collected is sent to body feeling interaction device；
Execution unit：The instruction and execution of reception control unit.
5. a kind of robot according to claim 4, it is characterised in that image acquisition units include the first camera and the
Two cameras, the first camera and second camera are connected with control unit.
6. a kind of control method of robot, it is characterised in that comprise the following steps：
Step 1, body feeling interaction device collection target body limbs joint angle information is first passed through, according to the target body collected
Limbs joint angle information carries out limb motion angle recognition to target body；
Step 2, body feeling interaction device is handed over further according to body-sensing corresponding to the limb motion angle result generation of the target body of identification
Mutually instruction；
Step 3, body feeling interaction device again sends body feeling interaction instruction to robot, and robot performs body feeling interaction instruction；
Wherein, body feeling interaction device is the body feeling interaction device as described in claim 1-3 any one.
7. the control method of robot according to claim 6, it is characterised in that in the step 1, body feeling interaction device
Target body limbs joint movement angle is gathered, target body is entered according to the target body limbs joint angle information collected
The step of row limb motion angle recognition, specifically includes：
Step 1.1, the Eulerian angles in each joint of target body limbs are gathered；
Step 1.2, the Eulerian angles of the target body collected in step 1.1 are converted into spin matrix, then by spin matrix band
Enter the algorithm for resolving human body relative attitude, calculate the result of each joint relative motion attitude angle of human body.
8. the control method of robot according to claim 6, it is characterised in that in the step 2, body feeling interaction instruction
Performed including robot motion posture, robot direction of advance adjustment, robot pace adjustment, robot GPS drives automatically
Sail the collection of patten transformation and robot fingertip pressure data.
9. the control method of robot according to claim 6, it is characterised in that in the step 3, robot performs body
When feeling interactive instruction：
Robot obtains the robot fingertip pressure information under current environment by the fingertip pressure sensing unit in robot, and
Fingertip pressure information is sent to body feeling interaction device, so that fingertip pressure information is converted into gradient by body feeling interaction device
Vibration, and give the vibrational feedback to the target body；
Robot obtains the first image under current environment by the first camera in robot and second camera respectively
Data and the second view data, and the first view data and the second view data are sent to body feeling interaction device, so that
Body feeling interaction device will be shown after the first view data and the second view data synthesis 3D rendering；
Robot obtains the robot reality by the GPS module in robot, electronic compass and power supply real time monitoring apparatus
When attitude information and power information, and robot pose information and power information are sent to body feeling interaction device, with
Body feeling interaction device is set to be shown after integrating robot pose information and power information.
10. the control method of robot according to claim 6, it is characterised in that body feeling interaction device and robot it
Between using communication transmission data.
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| CN201710910785.XA CN107639620A (en) | 2017-09-29 | 2017-09-29 | A kind of control method of robot, body feeling interaction device and robot |
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| CN201710910785.XA CN107639620A (en) | 2017-09-29 | 2017-09-29 | A kind of control method of robot, body feeling interaction device and robot |
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| CN109003666A (en) * | 2018-06-21 | 2018-12-14 | 珠海金山网络游戏科技有限公司 | Long-range remote sensing based on motion capture is accompanied and attended to the methods, devices and systems of robot |
| CN109941436A (en) * | 2019-04-09 | 2019-06-28 | 国网黑龙江省电力有限公司电力科学研究院 | It is a kind of can livewire work maintenance feeder line fault unmanned plane |
| CN110209264A (en) * | 2019-03-28 | 2019-09-06 | 钟炜凯 | A kind of behavioral data processing system and method |
| CN110328648A (en) * | 2019-08-06 | 2019-10-15 | 米召礼 | A kind of man-machine working machine moved synchronously |
| CN111438673A (en) * | 2020-03-24 | 2020-07-24 | 西安交通大学 | High-altitude operation teleoperation method and system based on stereoscopic vision and gesture control |
| CN111687847A (en) * | 2020-07-09 | 2020-09-22 | 深圳市多够机器人技术有限公司 | Remote control device and control interaction mode of foot type robot |
| CN111880643A (en) * | 2019-06-26 | 2020-11-03 | 广州凡拓数字创意科技股份有限公司 | Navigation method and device |
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| CN110328648A (en) * | 2019-08-06 | 2019-10-15 | 米召礼 | A kind of man-machine working machine moved synchronously |
| CN111438673A (en) * | 2020-03-24 | 2020-07-24 | 西安交通大学 | High-altitude operation teleoperation method and system based on stereoscopic vision and gesture control |
| CN111687847A (en) * | 2020-07-09 | 2020-09-22 | 深圳市多够机器人技术有限公司 | Remote control device and control interaction mode of foot type robot |
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