CN107738255A - Mechanical arm and the Mechanical arm control method based on Leap Motion - Google Patents
Mechanical arm and the Mechanical arm control method based on Leap Motion Download PDFInfo
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- CN107738255A CN107738255A CN201710881150.1A CN201710881150A CN107738255A CN 107738255 A CN107738255 A CN 107738255A CN 201710881150 A CN201710881150 A CN 201710881150A CN 107738255 A CN107738255 A CN 107738255A
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- mechanical arm
- steering wheel
- arm
- joint
- hand
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Classifications
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
This application discloses a kind of mechanical arm and the Mechanical arm control method based on Leap Motion, the mechanical arm includes pedestal, executing agency, master control borad, the first steering wheel, the second steering wheel and the 3rd steering wheel, executing agency includes base member, big arm member, small arm member and wrist, first steering wheel, the second steering wheel and the 3rd steering wheel drive base member, big arm member, small arm member to rotate respectively, simple to operate.The mechanical arm Leap Motion equipment that the application provides is combined, real time control machine tool arm is imitated by Leap Motion action inductions and completes corresponding actions, the not humane design that tradition machinery arm is controlled using modes such as buttons is broken away from, simple to operate and precision is high, human thinking and mind over machine can be combined together, purpose task can be better carried out.
Description
Technical field
The present invention relates to mechanical arm control technology field, more particularly to a kind of mechanical arm and the machine based on Leap Motion
Tool arm control method.
Background technology
Mechanical arm can imitate some holding functions of human hand and arm, be a kind of being captured by fixed routine, carry object
Or the automatic pilot of operation instrument.Mechanical arm is the industrial robot occurred earliest, and the modern machines occurred earliest
People, it can replace the heavy labor of people to be operated to realize the mechanization of production and automation under hostile environment to protect people
Body safety, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Mechanical arm is made up of executing agency, drive mechanism and control system, and executing agency includes gripping portion (hand
Portion), wrist, arm and waist, hand directly contacted with workpiece, usually rotary type or translating type；Wrist be connection hand and
The part of arm, for adjusting the orientation for being grabbed object；Arm is the important component that object, hand, wrist are grabbed in support, and it is made
With being to drive hand to go to capture object, and given position is transported to by pre-provisioning request；Waist is supporting arm part, and it is acted on
It is to drive arm rotation.Drive mechanism have it is pneumatic, surge, electronic and mechanical four kinds of forms, pneumatic type speed is fast, structure letter
Single, hydrodynamic can realize continuous control, make the purposes of industry mechanical arm and versatility wider, and positioning precision is higher, therefore mesh
It is preceding it is conventional be pneumatic and type of drive of surging.Control system using programmable controller, inputs program, machinery mostly
Arm realizes carrying or welding job according to program.
But most of mechanical arm is all lower-mobility at present, and all it is that power knot is exported using motor, hydraulic pressure etc.
Structure is placed on one piece with each finger, is limited by push-botton operation and move angle, has so virtually aggravated the burden of arm, limits
The number of the free degree, the quality of crawl article and the region for capturing article are made, and it is more complicated to operate.It is also current
Most of industrial robots are only adapted to specific product and working environment, and depend on provided special equipment and work
Tool, the operation of mechanical arm is inadequate for many tasks.
The content of the invention
The invention provides a kind of mechanical arm and the Mechanical arm control method based on Leap Motion, to solve current machine
Tool arm complex operation, the problem of free degree is less.
In a first aspect, the invention provides a kind of mechanical arm, the mechanical arm includes pedestal, executing agency and master control borad, its
In：
The executing agency includes base member, big arm member, small arm member and wrist, and the base member is fixedly mounted
In on the pedestal；The first fixed support and the second fixed support, the big arm member are symmetrically arranged with the base member
First fixed support and the second fixed support are connected by the first joint respectively；The small arm member is connected by second joint
The big arm member is connect, the wrist connects the small arm member by the 3rd joint；
First steering wheel is installed, base member described in first servo driving rotates on the base member；Described
Second steering wheel is installed on one fixed support, the 3rd steering wheel, second steering wheel and institute are installed on second fixed support
Big arm member described in the 3rd servo driving is stated to rotate around the second joint around first articulation, the small arm member；
First steering wheel, the second steering wheel and the 3rd steering wheel communicate to connect with the master control borad respectively.
Optionally, the base member includes base, support platform and between the base and support platform
Rotating mechanism, the base are fixedly installed on the pedestal, first fixed support and the second fixed support respectively with institute
Support platform is stated to be fixedly connected；Rotating mechanism described in first servo driving rotates.
Optionally, the big arm member includes two large arm be arrangeding in parallel, and the large arm is close to one end of the pedestal
Connect first joint；The main shaft of second steering wheel is worn through first fixed support, the main shaft of the 3rd steering wheel
Second fixed support is crossed to be connected with first joint respectively；One end connection described the of the large arm away from the pedestal
Two joints.
Optionally, the small arm member includes two forearms be arrangeding in parallel, and the forearm connects the second joint；
Connecting plate is connected with first joint, the connecting plate is connected with first connecting rod by the 4th joint, described
First connecting rod connects the forearm by the 5th joint.
Optionally, the wrist is connected with transverse arm by the 6th joint, and the transverse arm is connected with triangle by the 7th joint
Plate, the set square connect the second joint, and the set square is connected with second connecting rod by the 8th joint, and described second connects
Bar is flexibly connected first fixed support.
Optionally, the mechanical arm also includes valve and air pump, and the valve is flexibly connected the wrist；In the wrist
Provided with the 4th steering wheel communicated to connect with the master control borad, air cock rotary described in the 4th servo driving；The master control borad with
Valve connects the air pump respectively.
Second aspect, present invention also offers a kind of Mechanical arm control method based on Leap Motion, methods described bag
Include：
Leap Motion equipment gathers hand exercise data in real time, extracts the characteristic parameter of the hand exercise data；
Identify whether hand exercise belongs to translation according to the characteristic parameter；
If so, then sending the data-signal for representing mechanical arm translation to the mechanical arm master control borad, pass through the master control borad
Send the translation motion that control signal realizes the mechanical arm；
If it is not, it is further continued for identifying whether the hand exercise belongs to grasping manipulation；
If so, then sending the data-signal for representing mechanical arm crawl to the mechanical arm master control borad, pass through the master control borad
Send the grasping movement that control signal realizes the mechanical arm.
Optionally, the Leap Motion equipment gathers hand exercise data in real time, extracts the hand exercise data
Characteristic parameter, including：
Different gesture motions is established by Leap Motion equipment, the gesture motion is stored to control machinery arm
In the gesture library of action；
The Leap Motion equipment gathers hand exercise data in real time, and palm is extracted according to the hand exercise data
The deviation angle of hand is calculated to the coordinate of Leap Motion equipment origins in center；
The coordinate position started after coordinate position and hand movement of each phalanges of hand is obtained, middle finger and unknown is calculated
Angle between first phalanges and second phalanges that refer to；
The gesture of the hand is identified according to the angle, the gesture and the gesture in gesture library are contrasted.
Optionally, it is described that different gesture motions is established by Leap Motion equipment, including：
Leap Motion equipment detects hand, finger or instrument within the vision, and assigns a unique ID number code for it
As mark；
Different gesture motions, including up, down, left, right, before and after, crawl and pine are established by Leap Motion equipment
Start work.
Optionally, the Leap Motion equipment gathers hand exercise data in real time, extracts the hand exercise data
Characteristic parameter, in addition to：
The Leap Motion equipment gathers hand exercise data in real time, and palm is extracted according to the hand exercise data
Coordinate value and hand skew flip angle；
The palm coordinate value and hand skew flip angle are converted to the action parameter of mechanical arm.
Technical scheme provided by the invention can include the following benefits：
Mechanical arm provided by the invention realizes that base member revolves respectively by the first steering wheel, the second steering wheel and the 3rd steering wheel
Turn, big arm member pitching, the action such as small arm member pitching, it is simple to operate, be easy to dismount, many traditional equipment can be substituted,
Captured by the requirement of manual control, carried object or completion corresponding operating, can also replace heavy hand labor realize life
The mechanization and automation of production.Also mechanical arm is combined by the application with Leap Motion equipment, passes through Leap Motion
Equipment gathers hand exercise data, extracts the characteristic parameter of hand exercise data, and characteristic parameter is converted into the correspondence of mechanical arm
Operational order, makes corresponding action according to operational order control machinery arm afterwards, and whole operation process is very smooth and smart
Exactness is high, can break away from the not humane design that tradition machinery arm is controlled using modes such as buttons, simple to operate and precision
Height, human thinking and mind over machine can be combined together, purpose task can be better carried out.
It should be appreciated that the general description and following detailed description of the above are only exemplary and explanatory, not
Can the limitation present invention.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, letter will be made to the required accompanying drawing used in embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without having to pay creative labor,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation of mechanical arm provided in an embodiment of the present invention；
Fig. 2 is a kind of structural representation of mechanical arm midsole base member provided in an embodiment of the present invention；
Fig. 3 is the structural representation of big arm member and small arm member in a kind of mechanical arm provided in an embodiment of the present invention；
Fig. 4 is the structural representation of wrist in a kind of mechanical arm provided in an embodiment of the present invention；
Fig. 5 is a kind of flow chart of the Mechanical arm control method based on Leap Motion provided in an embodiment of the present invention；
Fig. 6 is one embodiment of the Mechanical arm control method provided in an embodiment of the present invention based on Leap Motion
Flow chart；
Fig. 7 is another embodiment of the Mechanical arm control method provided in an embodiment of the present invention based on Leap Motion
Flow chart；
Fig. 8 is the coordinate system schematic diagram of mechanical arm provided in an embodiment of the present invention；
Fig. 9 is that mechanical arm space is sat in the Mechanical arm control method provided in an embodiment of the present invention based on Leap Motion
Target schematic diagram；
Fig. 1-Fig. 9 symbols represent：1- pedestals, 2- base members, 201- bases, 202- support platforms, the steering wheels of 203- first,
The fixed supports of 204- first, the fixed supports of 205- second, 3- large arm, the steering wheels of 301- second, the steering wheels of 302- the 3rd, 4- forearms, 5-
Wrist, the steering wheels of 501- the 4th, 6- valves, the joints of 7- first, 8- second joints, the joints of 9- the 3rd, 10- connecting plates, 11- the 4th
Joint, 12- first connecting rods, the joints of 13- the 5th, the joints of 14- the 6th, 15- transverse arms, the joints of 16- the 7th, 17- set squares, 18-
Eight joints, 19- second connecting rods, 20- master control borads, 21- supporting plates, 22- air pumps.
Embodiment
Referring to Fig. 1, for the structural representation of mechanical arm provided in an embodiment of the present invention.
As shown in figure 1, mechanical arm provided in an embodiment of the present invention includes pedestal 1, executing agency and master control borad 20, wherein,
Executing agency includes base member 2, big arm member, small arm member and wrist, and base member 2 is fixedly mounted and pedestal
On 1.Big arm member connects big arm member, wrist by the connect base part 2 of the first joint 7, small arm member by second joint 8
5 connect small arm member by the 3rd joint 9.
Pedestal 1 can improve the stability of mechanical arm, and pedestal 1 can be fixed on ground, can also be fixed on work and put down
On platform.
Base member 2 can rotate, and then drive big arm member, small arm member and wrist 5 to rotate, and realize whole mechanical arm
Rotation.Further, the first steering wheel 203 is installed, the first steering wheel 203 driving base member 2 rotates on base member 2.
Steering wheel is exactly briefly to be integrated with direct current generator, electric machine controller and decelerator etc., and is encapsulated in one and is easy to
Servo unit in the shell of installation, the department of electrical engineering for being simply input the more accurate transmission given angle of signal can be utilized
System.Steering wheel is mounted with that a potentiometer (or other angular transducers) detects output shaft rotation angle, and control panel is according to potentiometer
Information more accurate control and the angle of output shaft can be kept.
A more accurate angle is turned to automatically because steering wheel receives a simple control instruction can, so non-
Often it is adapted to use in revolute robot's product.
To realize spinning movement, as shown in Fig. 2 base member 2 includes base 201, support platform 202 and positioned at base
Rotating mechanism between 201 and support platform 202, base 201 are fixedly installed on pedestal 1.Rotating mechanism generally comprises rotation
Disk and bearing, the main shaft connection rotating disk and bearing of the first steering wheel 203, main shaft rotation drive the rotation of rotating disk and bearing, from
And realize the rotation of base member 2.
In specific implementation process, the rotating mechanism of base member 2 is not limited only to rotating disk and bearing, is revolved as gear drives
Turn, the structure etc. such as turbine and worm driving rotation, it belongs to the protection domain of the embodiment of the present invention.
Further, the angle of revolution scope of base member 2 is generally 360 °, can also limit base member as needed
Angle of revolution, such as -60 °~240 °, it belongs to the protection domain of the embodiment of the present invention.
Base member 2 also includes the symmetrically arranged fixed support 205 of first fixed support 204 and second, and first fixes branch
Frame 204 is fixedly connected with support platform 202 with the second fixed support 205, plays a part of Support large arm part.During installation, first
The fixed support 205 of fixed support 204 and second is each perpendicular to support platform 202.
As shown in figure 3, big arm member connects the first fixed support 204 and the second fixed support respectively by the first joint 7
205, specifically, big arm member includes two large arm 3 be arrangeding in parallel, and large arm 3 connects the first joint 7 close to one end of pedestal 1,
I.e. each large arm 3 sets through hole close to one end of pedestal 1, and the first joint 7 passes through the through hole of each large arm 3.
Further, the second steering wheel 301 is installed on first fixed support 204, is provided with the second fixed support 205
Three steering wheels 302, the main shaft of the second steering wheel 301 pass through the first fixed support 204, and the main shaft of the 3rd steering wheel 302 is fixed through second
Support 205, and the main shaft of the second steering wheel 301 is connected with the first joint 7 respectively with the main shaft of the 3rd steering wheel 302.That is the second steering wheel
301 drive the first joint 7 to rotate with the 3rd steering wheel 302, so as to drive the large arm 3 on the first joint 7 to rotate upwardly and downwardly, realize big
The pitching motion of arm 3.
Further, small arm member includes two forearms 4 be arrangeding in parallel, and forearm 4 is connected with large arm 3 by second joint 8
Connect, i.e., large arm 3 is set at an angle with forearm 4.
To realize the pitching motion of forearm 4, connecting plate 10 is connected with the first joint 7, connecting plate 10 is fixed positioned at second
Between support 205 and large arm 3, and the first joint 7 passes through one end of connecting plate 10, and the other end of connecting plate 10 connects the 4th joint
11, first connecting rod 12 is also associated with the 4th joint 11, i.e. connecting plate 10 is connected with first connecting rod 12 by the 4th joint 11.The
The one end of one connecting rod 12 away from the 4th joint 11 connects the 5th joint 13, and the 5th joint 13 is through forearm 4 close to second joint 8
One end, i.e. forearm 4 is connected with first connecting rod 12 by the 5th joint 13.
During action, the second steering wheel 301 drives the first joint 7 to rotate with the 3rd steering wheel 302, and the first joint 7 drives connecting plate
10 rotate, and connecting plate 10 drives first connecting rod 12 to rotate, and first connecting rod 12 drives forearm 4 to rotate, so as to realize the pitching of forearm 4
Action.
Second steering wheel 301 and the 3rd steering wheel 302 driving large arm 3 and the cooperative action of forearm 4, large arm 3 and the angle of pitch of forearm 4
Degree scope can be defined as needed, as large arm 3 luffing angle scope be 225 °~345 °, the luffing angle of forearm 4
Scope is 180 °~270 °, and it belongs to the protection domain of the embodiment of the present invention.
As shown in figure 4, wrist 5 connects forearm 4 by the 3rd joint 9, forearm 4 can rotate around the 3rd joint 9, and wrist 5
It is not rotatable.To realize this purpose, wrist 5 is connected with transverse arm 15 by the 6th joint 14, and transverse arm 15 passes through the 7th joint 16
Set square 17, one jiao of connection second joint 8 of set square 17 are connected with, one jiao of set square 17 is connected with by the 8th joint 18
Second connecting rod 19, second connecting rod 19 are flexibly connected the first fixed support 204.
During action, the second steering wheel 301 drives the first joint 7 to rotate with the 3rd steering wheel 302, and the first joint 7 drives large arm 3
Rotate upwardly and downwardly, drive forearm 4 to rotate upwardly and downwardly indirectly, forearm 4, which rotates, drives set square 17 to rotate, and set square 17 drives respectively
Transverse arm 15, second connecting rod 19 rotate, and second connecting rod 19 plays a supportive role, therefore set square 17 supports wrist 5 to protect with transverse arm 15
Hold it is motionless so that forearm 4 rotates around the 3rd joint 9.
Further, the first steering wheel 203, the second steering wheel 301 communicate to connect with master control borad 20 respectively with the 3rd steering wheel 302,
I.e. master control borad 20 sends control instruction, the first steering wheel 203, second to the first steering wheel 203, the second steering wheel 301 or the 3rd steering wheel 302
The steering wheel 302 of steering wheel 301 and the 3rd is to accurately control the rotational angle of base member 2, the luffing angle of large arm 3 and forearm 4
Luffing angle, realize the carrying or welding action of mechanical arm.
Further, supporting plate 21 is also included for convenience of the installation of master control borad 20, mechanical arm, supporting plate 21 is fixedly installed in
In the support platform 202 of base member 2, and master control borad 20 is installed in supporting plate 21.
Further, mechanical arm also includes valve 6 and air pump 22, and valve 6 is flexibly connected wrist 5, and its valve 6 is rotatable dynamic
Make.To realize this purpose, wrist 5 is provided with the 4th steering wheel 501 communicated to connect with master control borad 20, and the 4th steering wheel 501 drives
Valve 6 rotates.
Valve 6 is connected with air pump 22, and air pump 22 does not stop compressed air by electric power or hand-power, produces air pressure, and air pressure promotes
Valve 6 produces suction, so as to hold body surface, for carry an object.When air pressure is higher, the suction of valve 6 is larger, holds thing
Body；When air pressure is relatively low, the suction of valve 6 is relatively low, unclamps object.
To realize the control of air pump 22, air pump 22 is connected with master control borad 20, and master control borad 20 sends control instruction to air pump 22,
Air pump 22 controls the suction/put of valve 6 according to control instruction.Preferably, air pump 22 is installed in supporting plate 21.
Further, what is be connected with wrist 5 is not limited only to valve 6, such as gripper, sucker structure, and it belongs to this hair
Bright protection domain.
Further, the control instruction that master control borad 20 is sent can be the program write, and mechanical arm connection power supply, pass through
MicroUSB connection PC ends, mechanical arm control software is opened at PC ends, online programming is carried out, mechanical arm is compiled according to demand
Journey, to complete corresponding action；Unlimited remote control can also be realized by WIFI module, using C java standard library Socket, is led to
The WIFI that ICP/IP protocol calls notebook is crossed, is communicated with WIFI module, WIFI module directly passes the data received
It is defeated by single-chip microcomputer stm32 to be further processed, mechanical arm is connected by mobile phone terminal, is allowed by the different action sequence number buttons of mobile phone terminal
Mechanical arm performs corresponding action；Leap Motion can also be connected on computer, by installing Leap Motion
Controller host computers, under execution pattern or real-time mode, control machinery arm, which imitates, completes corresponding actions.
At work, master control borad 20 is respectively to the first steering wheel 203, the second steering wheel the 301, the 3rd for the mechanical arm that the application provides
Steering wheel 302, the 4th steering wheel 501 and air pump 22 send control instruction, and the first steering wheel 203 drives base member 2 according to control instruction
Rotation, realize that the rotation of whole mechanical arm, the second steering wheel 301 and the second steering wheel 302 drive large arm 3 around first according to control instruction
Joint 7 rotates, forearm 4 rotates around second joint 8, forearm 4 rotates around the 3rd joint 9, and the 4th steering wheel 501 drives according to control instruction
Mouth 6 of taking offence rotates, and air pump 22 drives valve 6 to inhale/put according to control instruction, under the cooperation of each executing agency, realizes machinery
Around arm, move up and down, complete the carrying work of object.
From above-described embodiment as can be seen that mechanical arm provided in an embodiment of the present invention includes pedestal, executing agency and master control
Plate, wherein, executing agency includes base member, big arm member, small arm member and wrist, base member and is fixedly installed in pedestal
On, big arm member connects big arm member by the first joint connect base part, small arm member by second joint, and wrist passes through
3rd joint connects small arm member；Mechanical arm also includes the first steering wheel, the second steering wheel and the 3rd steering wheel, and master control borad is respectively to first
Steering wheel, the second steering wheel and the 3rd steering wheel send control instruction, and the first steering wheel is used to drive base member to rotate, the second steering wheel and the
Three steering wheels are used to drive big arm member to close around the 3rd around second joint rotation, small arm member around the first articulation, small arm member
Section rotates；Mechanical arm also includes valve and air pump, and valve is connected with wrist, and wrist is provided with the 4th steering wheel, master control borad respectively to
4th steering wheel and air pump send control instruction, and the 4th steering wheel is used to driving air cock rotary, and air pump is used to controlling the suction of valve/put；
Mechanical arm around completing mechanical arm, moves up and down under executing agency, the isostructural synergy of master control borad, so as to
Complete the carrying of object.The mechanical arm that the application provides realizes base respectively by the first steering wheel, the second steering wheel and the 3rd steering wheel
Part rotation, big arm member pitching, small arm member pitching etc. act, and sending control instruction by master control borad can be achieved mechanical arm
Carrying or welding job.Also the application reduces the quantity of drive mechanism (steering wheel) so that and the structure of mechanical arm is simpler,
Operation is simpler.
Based on mechanical arm provided in an embodiment of the present invention, the embodiment of the present invention additionally provides one kind and is based on Leap Motion
Mechanical arm control method.
Embodiment one
It is a kind of flow of the Mechanical arm control method based on Leap Motion provided in an embodiment of the present invention referring to Fig. 5
Figure, this method comprise the following steps：
S100：Leap Motion equipment gathers hand exercise data in real time, extracts the feature ginseng of the hand exercise data
Number.
Leap Motion are the motion sensing control devices towards PC and Mac, can detect and track hand, finger and similar hand
Refer to an instrument, it can work under pinpoint accuracy and high tracking frame per second, using infrared filter, strong antijamming capability.Leap
Motion identifications hand, finger and instrument, can obtain their position, gesture and action in real time.Leap Motion visual model
It is an inverted pyramid to enclose, the pinnacle of a pagoda heart in a device, and Leap Motion's can working range 25 arriving about in front of equipment
600 millimeters, that is, 1 inch to 2 inches, it compensate for the deficiency of the closely resolution difference of some sensors on the market.
Hand exercise data are gathered by Leap Motion equipment in real time, extract the characteristic parameter of hand exercise data
Specific steps are as shown in Figure 6.
S1011：Different gesture motions is established by Leap Motion equipment, the gesture motion is stored to control
In the gesture library of manipulator motion.
Leap Motion provide real time data by binding hand, finger or instrument within the vision, these data
Majority is provided by set or frame data, and each frame all contains a series of basic binding data, for example, hand, finger or
The data of person's instrument, certainly, it can also identify gesture and self-defining data in scene in real time.
If equipment detects in one's hands, finger, instrument or gesture, equipment can assign its unique id number conduct
Mark, as long as this entity does not go out the viewing area of equipment, this ID number will be constant always, if this entity of device losses
Occur again afterwards, Leap will assign its new id number, but software does not know that this and that former reality
Body has any relation.
Hand and finger have individually been bound in Leap Motion, in each frame, has been assigned respectively for hand and each finger
One ID number associates with object, and finds it inside new frame, by using Frame.Hand (),
Frame.Finger (), Frame.Tool (), Frame.Gesture () method function, if existed inside current frame
If, these method functions return to the reference of corresponding object.If this object is no longer present, one special invalid right
As that will be returned.Invalidated object is well defined to be used for you, but effective binding data is not present.This technology is helped
Us are helped to reduce the work of sky object detection.
One Frame object provides binding data, the list of gesture and element, and these data regard for describing equipment
Overall action is observed in wild.As the gesture that equipment response is observed in frame with respective finger binding data should be
's.For each it was observed that gesture, equipment will place a Gesture object in frame.If this gesture is held
Continue the end time.Leap inside subsequent Frame just to updating this Gesture object.
Included in data list of bindings：Hands all Hands--, fingers all Fingers--, Tools-- are all
Instrument, gesture all Gestures-- (including start, terminate or afoot).
Hand objects provide several attributes to reflect the physical characteristic of the hand after binding.
Direction：One vector points to the unit direction vector of finger tip from palm.
Palm position：The distance that palm center is measured to Leap equipment origin with millimeter.
Length：The length of this object that can be seen.(to finger fingertip in hand)
Width：The mean breadth of visible objects.
Leap Motion can analyze the overall animation in more early frame in the scene, and comprehensive typical mobile rotation
And scale factors.Such as if hand is moved to the left by you, and ensure inside the Leap visual field, contained in frame mobile
Information.If you bend your hand just as rotating a ball, the just information comprising rotation inside frame.If you move palmistry pair
Or move towards, then the information of scaling is just contained in frame.Analysis of the Leap equipment for animation is based in the visual field
All objects, if a hand wherein, then will be analyzed based on the factor of this hand.The production of frame animation
Life is obtained by the comparison of current frame and frame earlier.The attribute of description animation compound includes：You can directly add
Animation factor operates these objects, without binding personal data.
Leap Motion equipment detects hand, finger or instrument within the vision, and assigns a unique ID number code for it
As mark, different gesture motions is established by Leap Motion, such as simple " scissors ", " stone ", " step " gesture,
These gestures represent up, down, left, right, before and after, crawl and release action, and these gesture motions are stored into gesture library.
S1012：The Leap Motion equipment gathers hand exercise data in real time, is carried according to the hand exercise data
Take palm center that the deviation angle of hand is calculated to the coordinate of Leap Motion equipment origins.
When hand is placed in above Leap Motion about at 40-500mm, equipment can assign one, hand unique ID number (Hand
Id) as mark.Operating personnel make different gesture motions above Leap Motion, pass through Palm position ()
Functional based method returns to palm center to the coordinate of Leap equipment origins, and the deviation angle sold is calculated by algorithm.
S1013：The coordinate position started after coordinate position and hand movement of each phalanges of hand is obtained, middle finger is calculated
Angle between nameless first phalanges and second phalanges.
Middle finger and first nameless phalanges and the is calculated according to the Leap Motion hand exercise data gathered
Angle between two phalanges, 3.14 represent 180 degree.Three stone, scissors, step gestures are observed, being not difficult to find out only needs
Judge that the two angles can be distinguished.
S1014：The gesture of the hand is identified according to the angle, the gesture in the gesture and gesture library is carried out pair
Than.
Identify that hand exercise represents according to the angle between first phalanges and second phalanges of middle finger and the third finger
Gesture, inquire about in gesture library whether possess same gesture, can be according to if gesture is identical with the gesture in gesture library
Operation performs mechanical arm and operated accordingly corresponding to gesture in gesture library.
S200：Identify whether hand exercise belongs to translation according to the characteristic parameter.
Gesture in gesture library has the gesture for representing mechanical arm progress up, down, left, right, before and after translation and represents mechanical arm
Crawl and the gesture unclamped, the gesture in the gesture and gesture library that collect is contrasted, and it is to represent translation to judge the gesture
The gesture of operation or the gesture of grasping manipulation.
S300：If so, then sending the data-signal for representing mechanical arm translation to the mechanical arm master control borad, pass through the master
Control plate sends the translation motion that control signal realizes the mechanical arm.
If the gesture of Leap Motion collections represents the gesture of translation, such as " step " gesture, then PC ends are to mechanical arm master
Control plate sends the data-signal for representing mechanical arm translation, and the data-signal includes large arm, the displacement of forearm, angle and direction
Etc. information, the translation motion that control signal realizes mechanical arm is sent by master control borad.
S400：If it is not, it is further continued for identifying whether the hand exercise belongs to grasping manipulation.
When the gesture for representing translation in the gesture and gesture library of Leap Motion collections is inconsistent, it is further continued for sentencing
Whether the gesture of breaking is consistent with representing the gesture of grasping manipulation in gesture library, for realizing the spinning movement of mechanical arm.
S500：If so, then sending the data-signal for representing mechanical arm crawl to the mechanical arm master control borad, pass through the master
Control plate sends the grasping movement that control signal realizes the mechanical arm.
When Leap Motion collection gesture it is consistent with the gesture that grasping manipulation is represented in gesture library, such as " stone " gesture,
Then PC ends send the data-signal for representing mechanical arm crawl to mechanical arm master control borad, the high pressure of the data-signal including air pump, low
The information such as pressure, the suction of air pump control suction nozzle, put, so as to realize the grasping movement of mechanical arm.
Embodiment two
It is a kind of the another of Mechanical arm control method based on Leap Motion provided in an embodiment of the present invention referring to Fig. 7
The flow chart of embodiment.
Mechanical arm control method provided in an embodiment of the present invention based on Leap Motion comprises the following steps：
S100：Leap Motion equipment gathers hand exercise data in real time, extracts the feature ginseng of the hand exercise data
Number.
S1021：The Leap Motion equipment gathers hand exercise data in real time, is carried according to the hand exercise data
Palm coordinate value and hand is taken to offset flip angle.
S1022：The palm coordinate value and hand skew flip angle are converted to the action parameter of mechanical arm.
The locus of mechanical arm is determined based on Leap Motion, because Leap Motion have powerful gesture number
According to capture ability, it can detect the space precise information including positions such as palm, wrist, forearms, smart under good environment
Exactness even can approach finger, detect the data such as the space coordinates returned, the anglec of rotation using it, it is possible to achieve to mechanical arm
Simulation Control, therefore, we do not use traditional robot spatial kinetics method --- DH coordinates establish method, and using one
The relatively simple and direct method of kind.As shown in Figure 8, Figure 9, we by using basis coordinates system residing for +Z direction as mechanical arm forwards
To, upward direction of the +Y direction as basis coordinates system residing for mechanical arm, +X direction as basis coordinates system residing for mechanical arm to the right
Direction.
If the space coordinates that the works return is (x, y, z), the length of large arm and forearm is respectively 11,12, base steering wheel,
The anglec of rotation of large arm steering wheel and forearm steering wheel is respectively a1, a2, a3, and wrist is from being r with a distance from the origin of coordinates, according to coordinate diagram
It is not difficult to list below equation：
r2=x2+y2+z2
l1+r2-l2 2=2l1rcosb1
l1 2+l2 2-r2=2l1l2cosb2
α3+b2=π
Wherein, b1And b2It is two interior angles that triangle is surrounded using large arm and forearm by adjacent side, solves above equation, obtain：
Above is z ﹥ 0 situation is detected, as z ﹤ 0, as long as the α that will be tried to achieve2Value negates.
The hand exercise data gathered according to Leap Motion equipment, extraction obtain palm coordinate value and hand skew upset
Angle, according to palm coordinate value and hand skew flip angle be calculated large arm, forearm, rotating shaft shift position and direction, hand
The suction of the angle control suction nozzle of finger is put.
The other method step of the embodiment of the present invention is identical with the method and step of embodiment one, and here is omitted.
Imitating the action of finger movement control machinery arm by Leap Motion mainly has two kinds of implementations, and one kind is PC
End, at PC ends during operating robotic arm, the mechanical arm action recorded is stored with the Flash of robot, in serial port setting
It is complete shake hands successfully after, can directly choose will perform that " " interior instruction, control software is except that can complete list for action lists in machine
The circulation of bar instruction performs, and a plurality of instruction can also be added into recursion instruction list, and the circulation for completing a plurality of instruction performs, this
Sample can makes mechanical arm realize that stacking, vanning, sorting etc. operate by programming.It is continuous can also to carry out multiple spot for mechanical arm simultaneously
Action generation.
Another kind is mobile phone terminal, in the control interface of mobile phone terminal, can select click action sequence number button, allows mechanical arm
Corresponding action is performed, action sequence number can also be manually entered in input frame, then clicks on " execution " button, you can allows machinery
Arm performs corresponding action.So that the people that will not be programmed can also use this mechanical arm, experience that mechanical arm brings convenient and
Enjoyment.Connecting mechanical arm by mobile phone terminal has both of which to select, as described below：
(1) ap mode
Ap mode, i.e. mechanical arm open wifi focus, and user is connected to this focus by android equipment
On.Mechanical arm switches on power, and the bluish-green flicker of functional indicator light, the rear indicator light that waits for a period of time is in blue color states, now, machine
Tool arm is in ap mode.The wifi for opening android equipment sets interface, and the AP focuses form of mechanical arm is " Robot_
XXXX”.In wifi lists, " Robot_XXXX " is the focus of mechanical arm.Connect " Robot_XXXX ", input the close of unification
Code, after successful connection success, you can communicated using APP with mechanical arm.
Explanation：Under ap mode, at most only an android equipment is allowed to connect.
(2) Clien patterns
Client patterns make mechanical arm be all connected to android equipment on router centered on router, i.e., mechanical
Arm is under consolidated network with android equipment.
When imitating the action of control machinery arm by Leap Motion, mechanical arm is connected into power supply, connected by microUSB
PC ends, mechanical arm control software is opened at PC ends, carries out online programming.Wireless remote operation is realized by WIFI module, utilizes C
Java standard library Socket, the WIFI for calling notebook by ICP/IP protocol are communicated with WIFI module, and WIFI modules will receive
To data be transferred directly to stm32 and be further processed, mechanical arm is connected by mobile phone terminal.Under mechanical arm pattern, connection
Mechanical arm, carry out controlled in wireless.Leap Motion are connected on computer, by installing Leap Motion Controller
Host computer, under execution pattern or real-time mode, control machinery arm, which imitates, completes corresponding actions.
From above-described embodiment as can be seen that the mechanical arm controlling party provided in an embodiment of the present invention based on Leap Motion
Method includes：After Leap Motion equipment collection hand motion, it is (upper to send the data to Leap Motion Controller
Machine), data are analyzed in host computer and are translated into the respective operations instruction of energy control machinery arm, are referred to according to action
The apish hand motion of control machinery arm is made, whole operation process is very smooth and precision is high.Based on Leap Motion
The mechanical arm controlled in real time has broken away from the not humane design of the control modes such as traditional button, simple to operate and precision
Height, human thinking and mind over machine are combined together, in order to be better carried out purpose task.
The mechanical arm that the application provides and the Mechanical arm control method based on Leap Motion can be applied not only to industry
On carrying, the work such as welding, the exploitation educational toy of children can also be regarded, can be used for teaching demonstration, strengthen student
Manipulative ability them can also be allowed the operation principle to mechanical arm to have more deep understanding.
Those skilled in the art will readily occur to the present invention its after considering specification and putting into practice the disclosure invented here
Its embodiment.The application be intended to the present invention any modification, purposes or adaptations, these modifications, purposes or
Person's adaptations follow the general principle of the present invention and including undocumented common knowledges in the art of the invention
Or conventional techniques.Description and embodiments are considered only as exemplary, and true scope and spirit of the invention are by following
Claim is pointed out.
Invention described above embodiment is not intended to limit the scope of the present invention..
Claims (10)
- A kind of 1. mechanical arm, it is characterised in that including pedestal (1), executing agency and master control borad (20), wherein：The executing agency includes base member (2), big arm member, small arm member and wrist (5), and the base member (2) is solid Dingan County is loaded on the pedestal (1)；The first fixed support (204) and second is symmetrically arranged with the base member (2) to fix Support (205), the big arm member connect first fixed support (204) and second by the first joint (7) and fixed respectively Support (205)；The small arm member connects the big arm member by second joint (8), and the wrist (5) passes through the 3rd joint (9) the small arm member is connected；First steering wheel (203) is installed, first steering wheel (203) drives the base member (2) on the base member (2) Rotation；Second steering wheel (301) is installed on first fixed support (204), is provided with second fixed support (205) 3rd steering wheel (302), second steering wheel (301) drive the big arm member around described first with the 3rd steering wheel (302) Joint (7) rotates, the small arm member rotates around the second joint (8)；First steering wheel (203), the second steering wheel (301) and the 3rd steering wheel (302) respectively with the master control borad (20) communication link Connect.
- 2. mechanical arm as claimed in claim 1, it is characterised in that the base member (2) includes base (201), support is put down Platform (202) and the rotating mechanism between the base (201) and support platform (202), the fixed peace of the base (201) Loaded on the pedestal (1), first fixed support (204) and the second fixed support (205) respectively with the support platform (202) it is fixedly connected；First steering wheel (203) drives the rotating mechanism to rotate.
- 3. mechanical arm as claimed in claim 1, it is characterised in that the big arm member includes two large arm be arrangeding in parallel (3), the large arm (3) connects first joint (7) close to one end of the pedestal (1)；The master of second steering wheel (301) Axle passes through second fixed support (205) through first fixed support (204), the main shaft of the 3rd steering wheel (302) It is connected respectively with first joint (7)；The one end of the large arm (3) away from the pedestal (1) connects the second joint (8)。
- 4. mechanical arm as claimed in claim 3, it is characterised in that the small arm member includes two forearms be arrangeding in parallel (4), the forearm (4) connects the second joint (8)；Connecting plate (10) is connected with first joint (7), the connecting plate (10) is connected with by the 4th joint (11) One connecting rod (12), the first connecting rod (12) connect the forearm (4) by the 5th joint (13).
- 5. mechanical arm as claimed in claim 4, it is characterised in that the wrist (5) is connected with horizontal stroke by the 6th joint (14) Arm (15), the transverse arm (15) are connected with set square (17) by the 7th joint (16), set square (17) connection described the Two joints (8), the set square (17) are connected with second connecting rod (19) by the 8th joint (18), and the second connecting rod (19) is living Dynamic connection first fixed support (204).
- 6. mechanical arm as claimed in claim 1, it is characterised in that the mechanical arm also includes valve (6) and air pump (22), institute State valve (6) and be flexibly connected the wrist (5)；The wrist (5) is provided with the 4th with the master control borad (20) communication connection Steering wheel (501), the 4th steering wheel (501) drive valve (6) rotation；The master control borad (20) connects respectively with valve (6) Connect the air pump (22).
- 7. a kind of Mechanical arm control method based on Leap Motion, it is characterised in that methods described includes：Leap Motion equipment gathers hand exercise data in real time, extracts the characteristic parameter of the hand exercise data；Identify whether hand exercise belongs to translation according to the characteristic parameter；If so, then sending the data-signal for representing mechanical arm translation to the mechanical arm master control borad, sent by the master control borad Control signal realizes the translation motion of the mechanical arm；If it is not, it is further continued for identifying whether the hand exercise belongs to grasping manipulation；If so, then sending the data-signal for representing mechanical arm crawl to the mechanical arm master control borad, sent by the master control borad Control signal realizes the grasping movement of the mechanical arm.
- 8. control method as claimed in claim 7, it is characterised in that the Leap Motion equipment gathers hand fortune in real time Dynamic data, the characteristic parameter of the hand exercise data is extracted, including：Different gesture motions is established by Leap Motion equipment, the gesture motion is stored to control machinery arm and acted Gesture library in；The Leap Motion equipment gathers hand exercise data in real time, and palm center is extracted according to the hand exercise data To the coordinate of Leap Motion equipment origins, the deviation angle of hand is calculated；The coordinate position started after coordinate position and hand movement of each phalanges of hand is obtained, middle finger and the third finger is calculated Angle between first phalanges and second phalanges；The gesture of the hand is identified according to the angle, the gesture and the gesture in gesture library are contrasted.
- 9. control method as claimed in claim 8, it is characterised in that it is described established by Leap Motion equipment it is different Gesture motion, including：Leap Motion equipment detects hand, finger or instrument within the vision, and assigns a unique ID number code conduct for it Mark；Different gesture motions is established by Leap Motion equipment, including up, down, left, right, before and after, crawl and release are moved Make.
- 10. control method as claimed in claim 7, it is characterised in that the Leap Motion equipment gathers hand fortune in real time Dynamic data, the characteristic parameter of the hand exercise data is extracted, in addition to：The Leap Motion equipment gathers hand exercise data in real time, and palm coordinate is extracted according to the hand exercise data Value and hand skew flip angle；The palm coordinate value and hand skew flip angle are converted to the action parameter of mechanical arm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710881150.1A CN107738255A (en) | 2017-09-26 | 2017-09-26 | Mechanical arm and the Mechanical arm control method based on Leap Motion |
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|---|---|---|---|
| CN201710881150.1A CN107738255A (en) | 2017-09-26 | 2017-09-26 | Mechanical arm and the Mechanical arm control method based on Leap Motion |
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| CN108466266A (en) * | 2018-03-22 | 2018-08-31 | 山东农业大学 | Mechanical arm motion control method and system |
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| CN109315144A (en) * | 2018-07-27 | 2019-02-12 | 湖南人文科技学院 | Intelligent fruits picker and its picking method |
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| CN109636708A (en) * | 2018-12-31 | 2019-04-16 | 青岛黄海学院 | Unmanned boat image collecting device and method under a kind of briny environment |
| CN110694286B (en) * | 2019-11-05 | 2020-11-10 | 厦门大学 | Method for simulating palm puppet performance by using mechanical arm |
| CN110694286A (en) * | 2019-11-05 | 2020-01-17 | 厦门大学 | Method for simulating palm puppet performance by using mechanical arm |
| CN111185906A (en) * | 2020-01-10 | 2020-05-22 | 上海大学 | Leap Motion-based dexterous hand master-slave control method |
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| CN112025772B (en) * | 2020-07-28 | 2021-11-23 | 沈阳建筑大学 | Mechanical arm autonomous calibration method based on visual measurement |
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