CN108459707A - It is a kind of using intelligent terminal identification maneuver and the system that controls robot - Google Patents
It is a kind of using intelligent terminal identification maneuver and the system that controls robot Download PDFInfo
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- CN108459707A CN108459707A CN201810075097.0A CN201810075097A CN108459707A CN 108459707 A CN108459707 A CN 108459707A CN 201810075097 A CN201810075097 A CN 201810075097A CN 108459707 A CN108459707 A CN 108459707A
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- 238000000034 method Methods 0.000 claims abstract description 67
- 238000007476 Maximum Likelihood Methods 0.000 claims description 22
- 238000000638 solvent extraction Methods 0.000 claims description 14
- 238000012937 correction Methods 0.000 claims description 8
- 238000012795 verification Methods 0.000 claims description 8
- 230000011218 segmentation Effects 0.000 claims description 7
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 230000003287 optical effect Effects 0.000 claims 1
- 210000003414 extremity Anatomy 0.000 description 49
- 210000003811 finger Anatomy 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000003238 somatosensory effect Effects 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/23—Recognition of whole body movements, e.g. for sport training
Abstract
This application discloses a kind of using intelligent terminal identification maneuver and the system that controls robot, including being equipped with the intelligent terminal of action recognition device and receiving the robot of intelligent terminal control, action recognition device includes camera module, processor and application software, camera module absorbs external image information, the information of processor and application software processing camera module intake, identify the action process sequence of controller, the information of action process sequence is sent to robot by intelligent terminal, the action of controller is simulated according to action sequence by robot.Disclosed herein as well is applied to the method in above system.
Description
Technical field
The invention belongs to intelligent technology fields, especially include a kind of using intelligent terminal identification maneuver and controlling robot
System and method.
Background technology
It is one by the software interface operation on intelligent terminal when controller needs one robot device of remote control
The relatively more universal method of kind, technology are very ripe.After image recognition technology is developed, vision system that robot passes through itself
The action command for closely obtaining controller also becomes a reality.By extraordinary somatosensory recognition equipment to the capture energy of human action
Power, controller can also by one robot of limb action remote control, but somatosensory device is with high costs at present, volume compared with
Greatly, it is not easy to daily carrying realization to control anywhere or anytime, and it is using single, is mainly used to realize that game electronic game etc. does not have
The scene of good society effect.
Invention content
The main vision of the present invention is the technical issues of solving the remote control of the long-range Bang You robots that help the elderly, in current mobile phone
Under the stronger and stronger situation of equal intelligent terminals function, human action is captured using intelligent terminal so that remote machine human simulation
Action, you can auxiliary the elderly and children.For this purpose, the present invention provides intelligent terminal identification maneuver described below and control machines
The system and method for device people.
The present invention provides a kind of using intelligent terminal identification maneuver and the system that controls robot, including is equipped with action
The intelligent terminal of identification device and the robot for receiving intelligent terminal control, action recognition device include camera module, processing
Device and application software, camera module absorb external image information, what processor and application software processing camera module were absorbed
Information identifies that the information of action process sequence is sent to robot, machine by the action process sequence of controller, intelligent terminal
People simulates the action of controller according to action sequence.
Preferably, it includes limbs that, which there are multiple structural units for generating relative motion, the intelligent terminal in the robot,
Identification module, limbs identification module obtain shape, position and the related information of each structural unit of robot in advance, and according to each
The information of structural unit shows shape, position and the associated image of the structural unit of robot, is shown in image on the screen
The relative tertiary location of each structural unit shown generates a sequence variation according to preset program, and controller does according to this variation
Go out a sequence limb action, the image information of the sequence limb action of the camera module intake controller, limbs identification
Maximum likelihood segmentation is done in the part that relative position variation is generated in the image information of one sequence limb action by module, and record is maximum
The image feature for each partitioning portion that likelihood is divided, and each partitioning portion and robot that maximum likelihood is divided are each
Structural unit forms one-to-one relationship.
Preferably, the intelligent terminal further includes action correction verification module, and controller makes limb action, the camera shooting head mould
The motion image information of group intake controller, the action recognition device identify the action process sequence of controller, act school
It includes on the screen of intelligent terminal, for controller school that module, which is tested, by action process sequence formation robot motion analog picture
It tests, when controller approves the action process sequence that picture is shown, then generating approval by button or voice orders, intelligent terminal
After receiving approval order, the information of action process sequence is sent to robot.
Preferably, the information of the processor and application software processing camera module intake, identifies that controller's is dynamic
Make process sequence, including：When camera module absorbs at the part moment shadow for the limbs for making less than complete controller action
When picture, maximal possibility estimation is done to the action process sequence of controller.
Preferably, the camera module includes two groups of corresponding lens and sensor devices, absorbs two kinds of different waves respectively
The light of long section does differential pair to form two group images, the processor and application software to two group images that synchronization is formed
Than the limbs identification module is with reference to this differential pair ratio as a result, doing maximum likelihood segmentation.
The present invention provides a kind of using intelligent terminal identification maneuver and the method that controls robot, includes the following steps：
S11, camera module absorb external image information；
S12, the information of processor and application software processing camera module intake, identifies the action process sequence of controller；
The information of action process sequence is sent to robot by S13, intelligent terminal；
The action of controller is simulated according to action sequence by S14, robot.
Preferably, the method further includes following steps：
S01, limbs identification module obtain shape, position and the related information of each structural unit of robot in advance, and according to each
The information of structural unit shows shape, position and the associated image of the structural unit of robot on the screen；
The relative tertiary location of S02, each structural unit shown in image generate a sequence variation according to preset program；
S03, controller make a sequence limb action according to an above-mentioned sequence variation；
S04, the image information of the sequence limb action of the camera module intake controller；
S05, limbs identification module will generate the part that relative position changes and do maximum in the image information of a sequence limb action
Likelihood is divided, the image feature of each partitioning portion that record maximum likelihood is divided, and maximum likelihood is divided each
Partitioning portion forms one-to-one relationship with each structural unit of robot.
Preferably, further include following steps：
S21, controller make limb action；
S22, the motion image information of the camera module intake controller；
S23, the action recognition device handle motion image information, identify the action process sequence of controller；
S24, it includes the screen in intelligent terminal that action process sequence is formed robot motion analog picture by action correction verification module
On, it is verified for controller；
S25, when controller approves the action process sequence that picture is shown, then generating approval by button or voice orders；
The information of action process sequence is sent to robot by S26 after intelligent terminal receives approval order.
Preferably, the step S12 further includes：It absorbs at the part moment when camera module and makees less than complete controller
When going out the image of the limbs of action, processor and application software do maximal possibility estimation to the action process sequence of controller.
Preferably, the camera module includes two groups of corresponding lens and sensor devices, absorbs two kinds of different waves respectively
For the light of long section to form two group images, the step S05 further includes two that processor and application software form synchronization
Group image does difference comparison, and the limbs identification module is with reference to this differential pair ratio as a result, doing maximum likelihood segmentation.
Description of the drawings
Attached drawing 1 is a kind of schematic diagram using intelligent terminal identification maneuver and the system that controls robot.
Specific implementation mode
It, next will be in conjunction with the embodiments to technical scheme of the present invention in order to more clearly show technical scheme of the present invention
Illustrative description is made, those skilled in the art should understand that this embodiment is preferred embodiment, but and it is not exclusive
Embodiment makes modification and adjustment, it should also fall in the case where not making creative work to embodiments described just below
Within the protection domain of technical solution of the present invention.
It is shown in Figure 1 a kind of using intelligent terminal identification maneuver and the system that controls robot, including be equipped with dynamic
Make the intelligent terminal of identification device and receives the robot of intelligent terminal control.In the present embodiment, intelligent terminal is one
IPhone X mobile phones.Action recognition device includes that the application of the camera module of mobile phone, the various types of processors of mobile phone and customization is soft
Part.Controller opens the application software of customization, and limb action, camera module intake are made in mobile phone camera field range
External image information, wherein the information for the limb action made comprising controller, processor and application software processing camera shooting head mould
One complete action video is divided and is sampled, obtains one group of pattern arranged according to time sequencing by the information of group intake,
Distribution situation of the limbs various pieces at each pattern marking time point is obtained in pattern, identifies the action process sequence of controller
Row are believed with one group according to the relative spatial co-ordinates for denoting limbs each section of time sequencing arrangement and the structural data of angle
The information of action process sequence is sent to robot by breath, intelligent terminal, robot according in action sequence according to time series
Arrangement denotes the space coordinate of limbs each section and the structured data information of angle, adjusts the phase of itself each structural unit
To space coordinate and angle, the action of controller is simulated.
There are multiple structural units for generating relative motion in the robot, such as arm relative body does certain degree of freedom
Rotation, more than waist can be to do the rotation of certain angle below opposed waist, upperlip can be relatively close to and separate
Movement etc..The intelligent terminal includes limbs identification module, including the rely processor and realizing of operation of software and software interacts
The hardware resources such as display screen, limbs identification module obtains the shape of each structural unit of robot, position and is associated with letter in advance
Breath, such as the quantity of mechanical arm, mechanical finger, length, bendable curvature, relative angle and mechanical palms connection etc., and according to
The information of each structural unit shows shape, position and the associated image of the structural unit of robot on the screen.In image
The relative tertiary location of each structural unit of display generates a sequence variation according to preset program, and controller is according to this variation
A sequence limb action, the image information of the sequence limb action of the camera module intake controller are made, limbs are known
Maximum likelihood segmentation is done in the part that relative position variation is generated in the image information of one sequence limb action by other module, and record is most
The image feature for each partitioning portion that maximum-likelihood is divided, and each partitioning portion and robot that maximum likelihood is divided
Each structural unit forms one-to-one relationship, such as the thumb of controller, the mechanical thumb of index finger and robot, mechanical index finger
It corresponds to respectively, forms action simulation relationship.It in practical applications, can be repeatedly according to preset journey in order to reach higher precision
Sequence generates a sequence variation, realizes above-mentioned identification and cutting procedure.Because the controller of camera module intake does limb action
Image it is possible that the case where a part of limbs are blocked by front limbs, the maximum likelihood partitioning algorithm combination limbs
The incidence relation of shape, limbs each section, with the situation for the limbs that maximum probability Estimation is blocked.
The intelligent terminal further include action correction verification module, including software and software rely operation processor and realize hand over
The hardware resources such as mutual display screen.Controller makes limb action, the motion image letter of the camera module intake controller
Breath, the action recognition device identify that the action process sequence of controller, action correction verification module are obtained using limbs identification module
Each partitioning portion of controller's limbs taken forms one-to-one relationship with each structural unit of robot, by action process sequence shape
It is shown on the screen of intelligent terminal at robot motion analog picture, is verified for controller, when controller approves that picture is shown
Action process sequence, then generated by button or voice and approve order, after intelligent terminal receives approval order, will acted
The information of process sequence is sent to robot.
The information of the processor and application software processing camera module intake, identifies the action process sequence of controller
It arranges, further includes：It is right when camera module is in image of the part moment intake less than the limbs that complete controller makes action
The action process sequence of controller does maximal possibility estimation, using Given information, passes through the method for interpolation and probability calculation, supplement
The limbs status information that do not absorb.
The camera module includes two groups of corresponding lens and sensor devices, absorbs the light of two kinds of different wave length sections respectively
Line does difference comparison to form two group images, the processor and application software to two group images that synchronization is formed, described
Limbs identification module is with reference to this differential pair ratio as a result, doing maximum likelihood segmentation.
The present invention also provides a kind of using intelligent terminal identification maneuver and the method that controls robot, including walks as follows
Suddenly：
S11, camera module absorb external image information；
S12, the information of processor and application software processing camera module intake, identifies the action process sequence of controller；
The information of action process sequence is sent to robot by S13, intelligent terminal；
The action of controller is simulated according to action sequence by S14, robot.
Preferably, further include step S01 ~ S05 before the above method：
S01, limbs identification module obtain shape, position and the related information of each structural unit of robot in advance, and according to each
The information of structural unit shows shape, position and the associated image of the structural unit of robot on the screen；
The relative tertiary location of S02, each structural unit shown in image generate a sequence variation according to preset program；
S03, controller make a sequence limb action according to an above-mentioned sequence variation；
S04, the image information of the sequence limb action of the camera module intake controller；
S05, limbs identification module will generate the part that relative position changes and do maximum in the image information of a sequence limb action
Likelihood is divided, the image feature of each partitioning portion that record maximum likelihood is divided, and maximum likelihood is divided each
Partitioning portion forms one-to-one relationship with each structural unit of robot.
Preferably, further include following steps：
S21, controller make limb action；
S22, the motion image information of the camera module intake controller；
S23, the action recognition device handle motion image information, identify the action process sequence of controller；
S24, it includes the screen in intelligent terminal that action process sequence is formed robot motion analog picture by action correction verification module
On, it is verified for controller；
S25, when controller approves the action process sequence that picture is shown, then generating approval by button or voice orders；
The information of action process sequence is sent to robot by S26 after intelligent terminal receives approval order.
Preferably, the step S12 of the above method further includes：When camera module is absorbed at the part moment less than complete control
When person processed makes the image of the limbs of action, processor and application software are done maximum likelihood to the action process sequence of controller and are estimated
Meter.
Preferably, in the above method, the camera module includes two groups of corresponding lens and sensor devices, is absorbed respectively
For the light of two kinds of different wave length sections to form two group images, the step S05 further includes processor and application software to same a period of time
It carves two group images formed and does difference comparison, the limbs identification module refers to this differential pair ratio as a result, doing maximum likelihood point
It cuts.
The step of method in conjunction with described in present disclosure or algorithm, can be realized in a manner of hardware, also may be used
It is realized in a manner of being to execute software instruction by processor.Software instruction can be made of corresponding software module, software mould
Block can be stored on RAM, flash memory, ROM, EPROM, EEPROM, register or any other form well known in the art
In storage medium.A kind of illustrative storage medium is coupled to processor, to enable a processor to read from the storage medium
Information, and information can be written to the storage medium.Certainly, storage medium can also be the component part of processor.Processor and
Storage medium can be located in ASIC.
It is apparent to those skilled in the art that for convenience and simplicity of description, the method for foregoing description
In, the concrete property and the course of work of module and unit can refer to the correspondence situation in aforementioned system embodiment, herein no longer
It repeats.
Those skilled in the art are described herein it will be appreciated that in said one or multiple embodiments
Function can be realized with hardware, software, firmware or their arbitrary combination.It when implemented in software, can be by these work(
Can storage in computer-readable medium or as on computer-readable medium one or more instructions or code passed
It is defeated.
In several embodiments provided herein, it should be understood that disclosed system and method can pass through it
Its mode is realized.The division of the module, only a kind of division of logic function, can there is other division in actual implementation
Mode.Multiple modules or unit can be combined or can be integrated into another system, or some features can be ignored, or not hold
Row.
Above example is only to illustrate the technical solution of the application, rather than its limitations, although with reference to the foregoing embodiments
The application is described in further detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each
Technical solution recorded in embodiment is modified or equivalent replacement of some of the technical features；And these are changed
Or it replaces, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of using intelligent terminal identification maneuver and the system that controls robot, which is characterized in that know including being equipped with action
The intelligent terminal of other device and the robot for receiving intelligent terminal control, action recognition device includes camera module, processor
And application software, camera module absorb external image information, the letter of processor and application software processing camera module intake
Breath, identifies that the information of action process sequence is sent to robot, robot by the action process sequence of controller, intelligent terminal
According to action sequence, the action of controller is simulated.
2. the system as claimed in claim 1, which is characterized in that there are multiple structure lists for generating relative motion in the robot
Member, the intelligent terminal include limbs identification module, limbs identification module obtain in advance each structural unit of robot shape,
Position and related information, and according to the information of each structural unit, shape, the position of the structural unit of robot are shown on the screen
The relative tertiary location for setting each structural unit shown in image with associated image generates a sequence according to preset program and becomes
Change, controller makes a sequence limb action, the sequence limbs of the camera module intake controller according to this variation
The image information of action, limbs identification module will generate the part of relative position variation in the image information of a sequence limb action
Maximum likelihood segmentation, the image feature for each partitioning portion that record maximum likelihood is divided are done, and maximum likelihood is divided
To each partitioning portion and each structural unit of robot form one-to-one relationship.
3. system as claimed in claim 2, which is characterized in that the intelligent terminal further includes action correction verification module, controller
Limb action, the motion image information of the camera module intake controller are made, the action recognition device identifies control
Action process sequence formation robot motion analog picture is included in intelligence by the action process sequence of person processed, action correction verification module
It on the screen of terminal, is verified for controller, when the action process sequence that controller's approval picture is shown, then passes through button or language
Sound, which generates, approves order, and after intelligent terminal receives approval order, the information of action process sequence is sent to robot.
4. the system as claimed in claim 1, which is characterized in that the processor and application software processing camera module intake
Information, identify the action process sequence of controller, including：When camera module is absorbed at the part moment less than complete control
When person processed makes the image of the limbs of action, maximal possibility estimation is done to the action process sequence of controller.
5. system as claimed in claim 2, which is characterized in that the camera module includes two groups of corresponding lens and photosensitive
Device absorbs the light of two kinds of different wave length sections to form two group images respectively, and the processor and application software are to same a period of time
It carves two group images formed and does difference comparison, the limbs identification module refers to this differential pair ratio as a result, doing maximum likelihood point
It cuts.
6. a kind of using intelligent terminal identification maneuver and the method that controls robot, which is characterized in that include the following steps：
S11, camera module absorb external image information；
S12, the information of processor and application software processing camera module intake, identifies the action process sequence of controller；
The information of action process sequence is sent to robot by S13, intelligent terminal；
The action of controller is simulated according to action sequence by S14, robot.
7. method as claimed in claim 6, which is characterized in that further include following steps：
S01, limbs identification module obtain shape, position and the related information of each structural unit of robot in advance, and according to each
The information of structural unit shows shape, position and the associated image of the structural unit of robot on the screen；
The relative tertiary location of S02, each structural unit shown in image generate a sequence variation according to preset program；
S03, controller make a sequence limb action according to an above-mentioned sequence variation；
S04, the image information of the sequence limb action of the camera module intake controller；
S05, limbs identification module will generate the part that relative position changes and do maximum in the image information of a sequence limb action
Likelihood is divided, the image feature of each partitioning portion that record maximum likelihood is divided, and maximum likelihood is divided each
Partitioning portion forms one-to-one relationship with each structural unit of robot.
8. the method for claim 7, which is characterized in that further include following steps：
S21, controller make limb action；
S22, the motion image information of the camera module intake controller；
S23, the action recognition device handle motion image information, identify the action process sequence of controller；
S24, it includes the screen in intelligent terminal that action process sequence is formed robot motion analog picture by action correction verification module
On, it is verified for controller；
S25, when controller approves the action process sequence that picture is shown, then generating approval by button or voice orders；
The information of action process sequence is sent to robot by S26 after intelligent terminal receives approval order.
9. method as claimed in claim 6, which is characterized in that the step S12 further includes：
When camera module is when absorbing the image for the limbs for making action less than complete controller at the part moment, processor and
Application software does maximal possibility estimation to the action process sequence of controller.
10. the method for claim 7, which is characterized in that the camera module includes two groups of corresponding lens and sense
Optical device absorbs the light of two kinds of different wave length sections to form two group images respectively, and the step S05 further includes processor and answers
Difference comparison is done to two group images that synchronization is formed with software, the limbs identification module is with reference to this differential pair than knot
Fruit is cooked maximum likelihood segmentation.
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| CN201810075097.0A CN108459707A (en) | 2018-01-26 | 2018-01-26 | It is a kind of using intelligent terminal identification maneuver and the system that controls robot |
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| CN201810075097.0A CN108459707A (en) | 2018-01-26 | 2018-01-26 | It is a kind of using intelligent terminal identification maneuver and the system that controls robot |
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| CN113696175A (en) * | 2020-12-23 | 2021-11-26 | 昆山市睿尔达智能科技有限公司 | System for recognizing actions and controlling robot by using intelligent terminal |
| CN117251152A (en) * | 2022-12-12 | 2023-12-19 | 北京小米机器人技术有限公司 | Robot graphical programming method and device, mobile terminal and storage medium |
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