CN108081258A - Robot remote control system and method based on optics motion capture - Google Patents
Robot remote control system and method based on optics motion capture Download PDFInfo
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- CN108081258A CN108081258A CN201611020135.XA CN201611020135A CN108081258A CN 108081258 A CN108081258 A CN 108081258A CN 201611020135 A CN201611020135 A CN 201611020135A CN 108081258 A CN108081258 A CN 108081258A
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- user
- robot
- motion capture
- action
- remote control
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot remote control system and method based on optics motion capture, the system comprises：Optics motion capture module, for using the action of optical device acquisition user；Motion capture module, for calculating position and the posture of user according to the action of user；Robot control module, for the displacement needed for the position according to user and the movement of Attitude Calculation current robot and angle.The present invention program realizes the capture to user action using Optical devices, position and the posture of user is calculated according to the action of user, the position and Attitude Calculation current robot for reusing user move required displacement and angle, remote controlled robot, which enters in the environment that the mankind can not adapt to, completes work, so as to avoid itself coming to harm.
Description
Technical field
The present invention relates to robot remote controls, and in particular to the robot remote control system based on optics motion capture
And method.
Background technology
Since 21 century, with the continuous maturation of robot technology, robot technology has obtained wider application.From work
Industry robot develops to service humanoid robot, and robot has gradually been entered among daily life, is brought to us all
In many ways just.It such as cleans, conduct a sightseeing tour, Self-Service.With the raising of human substance life horizontal and becoming increasingly abundant for cultural life,
Future robot will link together with the mankind are closer.
At present, robot control mode can be summarized as three kinds：Intelligent control, local control and remote control.Intelligent control
It is five-star control mode, that is, robot is allowed to be drawn oneself up behavior according to sense of independence.Intelligent control is by cognitive science, nerve
The limitation of network and subjects is still in the exploratory development stage at present.Local control is operating personnel by control device,
Field control machine people.This control mode is widely used in the industrial production.Remote control, also referred to as remote operating, that is, exist
In the case of can't see robot, pass through control device, remote control robot.As the mankind explore the continuous of natural step
It strides forward, the working environment faced is also more and more severe, such as core work, deep ocean work and space probation.Therefore, remote control
Increasingly highlight its importance.The mankind, which are entered by remote control robot in the environment that itself can not be adapted to, completes work,
So as to avoid itself coming to harm.
At present, robot remote control is mostly based on PC.At the same time, hardware technology and action are caught
Catch advancing by leaps and bounds for technology so that motion capture can obtain user action, be provided for robot remote control a kind of new
Thinking-and using motion capture technology, substitution PC is as control terminal, so as to improve the flexibility of control terminal.
The content of the invention
Present invention aims to overcome that the deficiencies in the prior art, especially solve the existing robot remote control of existing solution
Technology is limited only to PC end, and remote control control mode is single and the problem of can not personalizing.
In order to solve the above technical problems, the present invention provides a kind of robot remote control system based on optics motion capture
System, wherein, the robot remote control system based on optics motion capture includes：Optics motion capture module, for making
With the action of optical device acquisition user；Motion capture module, for calculating position and the posture of user according to the action of user；
Robot control module, for the displacement needed for the position according to user and the movement of Attitude Calculation current robot and angle.
Further, the optics motion capture module includes reflective mark marks and optical camera, described reflective
Mark marks are attached to user's joint；The movement that the optical camera is used to track reflective mark marks is moved to capture user
Make.
The present invention also provides a kind of robot long-distance control method based on optics motion capture, wherein, it is described to be based on light
Learning the robot long-distance control method of motion capture includes：
S1 uses the action of optical device acquisition user；
S2 calculates position and the posture of user according to the action of user；
S3, displacement and angle according to needed for the position of user and the movement of Attitude Calculation current robot.
Further, the action according to user calculates the position of user and Gesture operation further includes：Coordinate calibration, wheel
Exterior feature extraction, motion tracking operation.
The present invention program realizes the capture to user action using Optical devices, and the position of user is calculated according to the action of user
It puts and posture, reuses the position of user and the displacement needed for the movement of Attitude Calculation current robot and angle, it is remote controlled
Robot, which enters in the environment that the mankind can not adapt to, completes work, so as to avoid itself coming to harm.
Description of the drawings
Fig. 1 is the signal of the robot remote control system based on optics motion capture of the specific embodiment of the present invention
Figure.
Fig. 2 is the robot long-distance control method based on optics motion capture in the specific embodiment of the present invention
Flow chart.
Fig. 3 is four connected regions and eight connectivity administrative division map in a specific embodiment of the invention.
Fig. 4 is that tracing area selects schematic diagram in a specific embodiment of the invention.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is carried out in further detail with complete explanation.It is appreciated that
It is that specific embodiment described herein is only used for explaining the present invention rather than limitation of the invention.
Fig. 1 is the robot remote control system schematic diagram according to an embodiment of the invention based on optics motion capture.
With reference to Fig. 1, the robot remote control system based on optics motion capture includes：Optics motion capture module
10, for using the action of optical device acquisition user；Motion capture module 20 calculates user's for the action according to user
Position and posture；Robot control module 30, required for the position according to user and the movement of Attitude Calculation current robot
Displacement and angle.
In addition, the optics motion capture device 10 includes reflective mark marks 101 and optical camera 102, it is described
Reflective mark marks 101 are attached to user's joint；The optical camera 102 is used to track the movement of reflective mark marks 101
To capture user action.
Corresponding, the present invention also provides a kind of robot long-distance control methods based on optics motion capture, specifically please
Reference Fig. 2 is the flow chart of the robot long-distance control method based on optics motion capture of the embodiment of the present invention.
With reference to Fig. 2, the robot long-distance control method according to an embodiment of the invention based on optics motion capture includes：
S1, the action using optical device acquisition user；S2, position and the posture that user is calculated according to the action of user；S3, according to
Displacement and angle needed for the position at family and the movement of Attitude Calculation current robot.
Specifically, the embodiment of the present invention is described as follows：
S1：Using the action of optical device acquisition user, detailed process is described as follows：
Reflective mark marks are attached at the major joint of user by user, the LED illumination sent by multiple optical cameras
Light reflexes to optical camera through mark marks, carries out the detection and space orientation of reflective mark marks.
S2：The position of user is calculated according to the action of user and Gesture operation further includes：Coordinate calibration, contours extract move
Make tracking operation, detailed process is described as follows：
S21：Coordinate is demarcated：
The coordinate that user coordinates with the real world is imaged with image is demarcated first, the two-dimensional image vegetarian refreshments in image
The coordinate p=(u, v) of pTThe space coordinates of corresponding spatial point P is expressed as P=(xw,yw,zw)T, pixel p and spatial point P's
Homogeneous coordinates are expressed asWithThen there are following changes with space coordinates for image coordinate
Change relation：
K is Intrinsic Matrix, and R, T are outer parameter matrixs, fuAnd fvIt is scale factor, [u0,v0] it is principal point coordinate, γ is
Distortion factor, s are scale factors.Therefore, once calculating the value of Intrinsic Matrix and outer parameter matrix, you can from image coordinate
It is back-calculated to obtain space coordinates.In the present embodiment, there is the image of reference object of regular length using many places calibration to parameter matrix
It is solved.
S22：Profile is searched：
Profile is searched using eight connectivity or four connected regions, and principle is compareed with reference to Fig. 3, four connections and the principle of eight connectivity
Figure.0 in figure is that position where central pixel point is exactly four connections or eight connectivity region, i.e. four connected regions refer to 0 up and down
Four points in left and right, eight connectivity is also comprising the upper left corner, the upper right corner, the lower left corner and four, lower right corner position, therefore eight connectivity region includes
Four connected regions.
One profile generally corresponds to a series of point, that is, a curve in image, is by sequentially finding out edge
It puts to track border.Since the pixel value in each region is identical, profile can be carried out by four connections or eight connectivity region and looked into
It looks for.Four connections and eight connectivity can mark the part connected in binary picture, and grammer is embodied as L=(BW, n) [L, num].Its
Middle BW is input picture；N can value for 4 or 8 represent connect four connection or eight connectivity region；Num is the connected region number found
Mesh；L is output image array, and element value is integer, and background is marked as 0, and first connected region is marked as 1, second
A connected region is marked as 2, and so on.
After profile is searched, multiple profiles can be obtained, defining the unique profile of screening acquisition by largest contours is used as
User profile, and for subsequent motion tracking.
S23：Motion tracking：
With reference to Fig. 4, the tracing area selection schematic diagram of one embodiment of the present of invention.The present invention by taking palm tracks as an example,
One coordinate of composition for choosing finger tip coordinate x, y value respectively takes horizontal vertical longest distance as upper left angle point, width and height
Minimum value.A points and B points are respectively then the upper left angle point of finger tip and bottom right angle point, (Ax,Ay) and (Bx,By) it is respectively A points and B
Point coordinate value, then to 2 points progress difference operations, by minimize formula MIN (| Ax-Bx|,|Ay-By|) tracking is calculated
Scope.
S3, the displacement according to needed for the position of user and the movement of Attitude Calculation current robot and angle, detailed process are retouched
It states as follows：
S31：With reference to robot body structure, welding robot member coordinates are established, establish robot kinematics' matrix.
S32：The inverse transformation of the kinematics matrix gradually transformation matrix of coordinates between premultiplication robot adjacent links, so as to
Joint variable is separated, so as to solve joint variable.
It is above-mentioned for the preferable embodiment of the present invention, but embodiments of the present invention and from the limitation of the above,
His any Spirit Essence without departing from the present invention with made under principle change, modification, replacement, combine, simplification, should be
The substitute mode of effect, is included within protection scope of the present invention.
Claims (4)
1. a kind of robot remote control system based on optics motion capture, which is characterized in that the system comprises：
Optics motion capture module, for using the action of optical device acquisition user；Motion capture module, for according to user
Action calculate user position and posture；Robot control module, for the position according to user and the current machine of Attitude Calculation
Displacement and angle needed for device people movement.
2. the robot remote control system according to claim 1 based on optics motion capture, which is characterized in that described
Optics motion capture module includes reflective mark marks and optical camera, and the reflective mark marks are attached to user joint
Place；The optical camera is used to track the movement of reflective mark marks to capture user action.
3. a kind of method realized using the robot remote control system described in claim 1 based on optics motion capture,
It is characterized in that, it the described method comprises the following steps：
S1 uses the action of optical device acquisition user；
S2 calculates position and the posture of user according to the action of user；
S3, displacement and angle according to needed for the position of user and the movement of Attitude Calculation current robot.
4. the robot long-distance control method according to claim 3 based on optics motion capture, which is characterized in that described
In step S2, further include：Coordinate calibration, contours extract, motion tracking operation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611020135.XA CN108081258A (en) | 2016-11-22 | 2016-11-22 | Robot remote control system and method based on optics motion capture |
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| CN201611020135.XA CN108081258A (en) | 2016-11-22 | 2016-11-22 | Robot remote control system and method based on optics motion capture |
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| Publication Number | Publication Date |
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| CN108081258A true CN108081258A (en) | 2018-05-29 |
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| CN201611020135.XA Pending CN108081258A (en) | 2016-11-22 | 2016-11-22 | Robot remote control system and method based on optics motion capture |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108830132A (en) * | 2018-04-11 | 2018-11-16 | 深圳市瑞立视多媒体科技有限公司 | A kind of sphere points distributing method and capture ball, system for optical motion capture |
| CN110815218A (en) * | 2019-10-31 | 2020-02-21 | 中国地质大学（武汉） | Mechanical arm anthropomorphic track planning method based on motion capture system |
-
2016
- 2016-11-22 CN CN201611020135.XA patent/CN108081258A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108830132A (en) * | 2018-04-11 | 2018-11-16 | 深圳市瑞立视多媒体科技有限公司 | A kind of sphere points distributing method and capture ball, system for optical motion capture |
| CN108830132B (en) * | 2018-04-11 | 2022-01-11 | 深圳市瑞立视多媒体科技有限公司 | Sphere point distribution method for optical motion capture, capture sphere and system |
| CN110815218A (en) * | 2019-10-31 | 2020-02-21 | 中国地质大学（武汉） | Mechanical arm anthropomorphic track planning method based on motion capture system |
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Application publication date: 20180529 |