CN109262608A - A kind of method and system that remote-controlled robot is grappled - Google Patents
A kind of method and system that remote-controlled robot is grappled Download PDFInfo
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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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
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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
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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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
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- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
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- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
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Abstract
The method and system that a kind of remote-controlled robot disclosed by the invention is grappled are installed on the acceleration transducer and angular-rate sensor signal value of remote inside by acquiring in real time；After judging the starting point of movement, the arithmetic element in remote control device starts to calculate and record the data such as exercise data rate of change, run duration, distance and angle；After judging the terminal of movement, the related datas such as corresponding exercise data rate of change, run duration, distance and angle are sent to robot by the wireless module in remote control device by remote control device, after robot receives exercise data, judged by limit value and compared with some fistfight during standard grapples maneuver library acts multiple characteristic values pair, determine whether effective action and type of action, and execute corresponding fistfight movement.The cost of method and system of the invention, realization is low, fast response time, to the adaptable of environment；And it is small to the identification error of remote control device movement, recognition correct rate is high.
Description
Technical Field
The invention belongs to the field of robot control, and particularly relates to a method and a system for fighting by a remote control robot.
Background
In recent years, the robot combat causes a hot tide in China, various robot combat events are played and pursued in two and three ways, and even related art programs begin to emerge. The grapple robot culture has been developed for a long time, and is represented by a real man show type mechanical vehicle match in the 90 s of the United states, such as a Botz war, a robot large arena, a robot contest and the like.
The robot combat is not only an entertainment activity, but also a special combat robot or a robot for combat is researched, so that the robot combat robot has a great promoting effect on the development and progress of the balance, impact resistance, fatigue resistance and other performances of the robot. Therefore, the field of robot combat is an important field of robot research.
The identification and control of the movements of a robot combat is one of the research fields of the core of the robot combat. At present, there are two general methods for controlling a robot by recognizing arm movements: one is a method by collecting a motion trajectory of a motion sensor mounted on a robot arm, and one is a method based on image recognition of optical motion capture. Compared with optical motion capture, the method based on the motion sensor has the advantages of low cost, high response speed and strong adaptability to capture environment, but the recognition error rate is high and the error is large.
Disclosure of Invention
The invention aims to provide a method and a system for fighting by a remote control robot, which have the advantages of low cost, high response speed, strong adaptability to environment, high identification accuracy and small error.
In order to realize the purpose, the invention adopts the following technical scheme:
a method for remotely controlling a robot to fight comprises the following steps:
1) and establishing a standard fighting action database of the robot, wherein the standard fighting action database comprises acceleration and angular speed characteristic values of each fighting action in specific time, and a starting point threshold, an end point threshold, movement time, a movement distance and a movement angle of each fighting action.
2) Acquiring an acceleration sensor signal value and a gyroscope sensor angular velocity signal value of the remote control device; calculating an acceleration energy sum and an angular velocity energy sum of X, Y, Z axes of the remote control device in a coordinate system within a certain time according to the acceleration sensor signal value and the gyroscope sensor angular velocity signal value of the remote control device; when the sum of the acceleration energy or the sum of the angular velocity energy of the remote control device on the X, Y, Z axis is larger than the fighting motion starting threshold, judging the current time t0Is the starting time of the fighting action. By calculating the sum of the acceleration and the angular velocity energy instead of the energy value on a single coordinate axis, the motion energy of the remote control device based on the acceleration and the angular velocity can be more accurately extracted, so that the starting time of linear motion, arc motion or other irregular motion of the remote control device can be more comprehensively captured, and the time is also the starting point of the robot fighting motion remotely controlled by the remote control device.
(3) And when the starting point time of the fighting action is judged, calculating and recording the acceleration change rate, the angular speed change rate, the movement distance and the angle of the remote control device in the direction of the X, Y, Z axis in real time.
(4) Continuously acquiring the acceleration sensor signal value and the gyroscope sensor angular velocity signal value of the remote control device; calculating an acceleration energy sum and an angular velocity energy sum of X, Y, Z axes of the remote control device in a coordinate system within a certain time according to the acceleration sensor signal value and the gyroscope sensor angular velocity signal value of the remote control device; when the sum of the acceleration energy of the remote control device on the X, Y, Z axis is smaller than or equal to the stop motion threshold value of the stop motion, and the sum of the angular velocity energy is smaller than or equal to the stop motion threshold value of the stop motion, the current time t is judgednThe end time of the jousting action, specifically ifAnd isThen the current time t is considerednIn order to be the end point of the movement,andmotion end point detection thresholds, E, for motion acceleration and angular velocity signals, respectivelyα、EωThe acceleration energy sum and the angular velocity energy sum are respectively. And when the motion is detected to be finished, stopping calculating and recording the acceleration sensor and the change rate value of the angular speed, and stopping calculating the motion time, the motion distance and the motion angle to finish one-time complete motion data sampling. By calculating the sum of the acceleration and the angular velocity energy instead of the energy value on a single coordinate axis, the motion energy of the remote control device based on the acceleration and the angular velocity sensor can be more accurately extracted, so that the terminal points of linear motion, arc motion or other irregular motion of the remote control device can be more accurately captured.
5) The robot receives acceleration change rate, angular speed change rate, movement time, movement distance and angle data of a remote control device, and judges whether the movement time, the movement distance and the movement angle of the remote control device are within the range of action time, action distance and action angle limit values of standard fighting actions; and if the motion time, the motion distance and the motion angle of the remote control device are within the limit value range of the motion time, the motion distance and the motion angle of the standard grapple motion, the robot compares the motion data of the remote control device with the standard grapple motion database according to the received motion data of the remote control device, matches the motion data with the specific grapple motion database, and then completes the specific grapple motion.
Further, after acquiring the acceleration sensor signal value and the gyroscope sensor angular velocity signal value of the remote control device, separating the gravitational acceleration in a dynamic motion environment through a first-order low-pass filter, thereby calculating a component of the gravitational acceleration in the X, Y, Z axis direction, and eliminating gravitational interference, wherein a difference equation is described as:
wherein,the component of the gravity acceleration in the direction of the X, Y, Z axis is respectively measured and calculated for the ith time,the acceleration data in the original X, Y, Z axis direction measured by the acceleration sensor at the i-th time are respectively, and k is the first orderThe filter coefficient, k, of the low-pass filter is determined according to the sensitivity and stability actually required by the system.
Further, the sum of the acceleration energy and the sum of the angular velocity energy of the remote control at X, Y, Z axes are respectively:
wherein E isα、EωRespectively an acceleration energy sum value and an angular velocity energy sum value, m is a sampling frequency set for eliminating environmental noise and user jitter,respectively, linear acceleration values of the acceleration sensor after eliminating the gravity interference in the direction of the X, Y, Z axis,angular velocity values of gyro sensors of the remote control device in the direction of the X, Y, Z axis, respectively; if it isOrThen the current time t is considered0Is the starting point of the fighting action,andand respectively detecting threshold values of the motion starting points of the fighting motion acceleration signal and the angular velocity signal.
Further, the operation formula of the acceleration change rate and the angular speed change rate in step 3) is as follows:
wherein,respectively the rate of change of acceleration of the robot in the direction of axis X, Y, Z,the rate of change of the angular velocity of the axis of the remote control X, Y, Z, and p is the number of samples set to eliminate environmental noise and user jitter, respectively.
Further, the formula for calculating the movement distance of the remote control device in step 3) is as follows:
wherein,respectively, the instantaneous speed value, S, of the remote control device i at the moment in the direction of the X, Y, Z axisx、Sy、SzRespectively, the moving distance t of the remote control device in the direction of X, Y, Z axesi-ti-1N is the total number of sampling times from the action start point to the action end point.
The motion angle calculation formula of the remote control device is as follows:
wherein, ∠ phix、∠φy、∠φzRespectively, the angles of movement of the remote control unit in the direction of axis X, Y, Z.
A system for remotely controlling a robot to fight comprises a remote control device, the robot and a robot standard fighting action database module, wherein the remote control device comprises an acceleration sensor; the remote control device comprises a microprocessor arithmetic unit, an acceleration sensor, an angular velocity sensor and a wireless transceiving module; the robot comprises a robot main control subsystem, a robot motion subsystem and a wireless transceiving module; the robot standard combat action database module is arranged in a remote control device, a robot or an independent storage device.
Further, the microprocessor arithmetic unit comprises a gravity acceleration component calculation module, and the gravity acceleration component calculation module is used for calculating the component of the gravity acceleration in the direction of the X, Y, Z axis.
Further, the microprocessor arithmetic unit further comprises an acceleration energy sum and angular velocity energy sum calculating module, and the acceleration energy sum and angular velocity energy sum calculating module is used for calculating an acceleration energy sum and an angular velocity energy sum.
Further, the microprocessor arithmetic unit further comprises an acceleration change rate and angular velocity change rate calculation module, and the acceleration change rate and angular velocity change rate calculation module is used for calculating the acceleration change rate and the angular velocity change rate.
Furthermore, the microprocessor arithmetic unit also comprises a movement distance and movement angle calculation module, and the movement distance and movement angle calculation module is used for calculating the movement distance and movement angle.
The invention discloses a method and a system for fighting by a remote control robot. When the starting point of the movement is judged, an arithmetic unit in the remote control device starts to calculate and record the data such as the change rate of the movement data, the movement time, the distance, the angle and the like; when the movement end point is judged, the remote control device sends relevant data such as corresponding movement data change rate, movement time, distance, angle and the like to the robot through a wireless module in the remote control device, after the robot receives the movement data, whether the movement is effective or not is judged through a limit value, then the movement type is judged, and corresponding fighting movement is executed. The method and the system have the advantages of low implementation cost, high response speed and strong adaptability to the environment, and can be suitable for various complex environments; and the error of identifying the action of the remote control device is small, and the identification accuracy is high.
Drawings
FIG. 1 is a schematic diagram of the components of a remote control device in accordance with one embodiment of the present invention;
FIG. 2 is a schematic diagram of a robot assembly according to an embodiment of the present invention;
FIG. 3 is a flow chart of remote control device control according to an embodiment of the present invention;
FIG. 4 is a flow chart of a robot determining remote control device actions in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the acceleration rate of the remote control device in the X-axis direction when the remote controlled robot makes a "go-straight-ahead" motion, according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating an angular velocity change rate of the remote control device in the Z-axis when the remote control robot performs a left-right waving motion according to an embodiment of the present invention.
Detailed Description
The following describes a method and a system for fighting a remotely controlled robot according to the present invention in detail with reference to the accompanying drawings.
As shown in fig. 3 and 4, a method for remotely controlling a robot to fight, which uses a remote control device to control the robot to do fighting motions, specifically includes the following steps:
1) and establishing a standard fighting action database of the robot, wherein the standard fighting action database comprises the characteristic values of the acceleration and the angular speed of each fighting action in a specific time, and a starting point threshold value, an end point threshold value, movement time, a movement distance and a movement angle of each fighting action. The remote control device is connected with the robot by wireless connection, and the remote control device is a remote control handle.
2) Acquiring an acceleration sensor signal value and a gyroscope sensor angular velocity signal value of a remote control device; calculating the sum of acceleration energy and the sum of angular velocity energy of X, Y, Z axes of the remote control device in a coordinate system within a certain time according to the signal value of the acceleration sensor of the remote control device and the signal value of the angular velocity of the gyroscope sensor; when the sum of the acceleration energy or the sum of the angular velocity energy of the remote control device on the X, Y, Z axis is larger than the fighting motion starting threshold, the current time t is judged0Is the starting time of the fighting action. By calculating the sum of the acceleration and the angular velocity energy instead of the energy value on a single coordinate axis, the motion energy of the remote control device based on the acceleration and the angular velocity can be more accurately extracted, so that the starting time of linear motion, arc motion or other irregular motion of the remote control device can be more comprehensively captured, and the time is also the starting point of the robot fighting action remotely controlled by the remote control device.
(3) And when the starting point time of the specific fighting action is judged, calculating and recording the acceleration change rate, the angular speed change rate, the movement distance and the angle of the remote control device in the direction of the X, Y, Z axis in real time.
(4) Continuously acquiring the signal value of the acceleration sensor and the signal value of the angular velocity of the gyroscope sensor of the remote control device; calculating the sum of acceleration energy and the sum of angular velocity energy of X, Y, Z axes of the remote control device in a coordinate system within a certain time according to the signal value of the acceleration sensor of the remote control device and the signal value of the angular velocity of the gyroscope sensor; when the sum of the acceleration energy of the remote control device on the X, Y, Z axis is less than or equal to the fighting motion end point threshold value and the sum of the angular velocity energy is less than or equal to the fighting motion end point threshold value, the current time t is judgednThe end time of the fighting action, specifically ifAnd isThen the current time t is considerednIn order to be the end point of the movement,andmotion end point detection thresholds, E, for motion acceleration and angular velocity signals, respectivelyα、EωThe acceleration energy sum and the angular velocity energy sum are respectively. And when the motion is detected to be finished, stopping calculating and recording the acceleration sensor and the change rate value of the angular speed, and stopping calculating the motion time, the motion distance and the motion angle to finish one-time complete motion data sampling. By calculating the sum of the acceleration and the angular velocity energy instead of the energy value on a single coordinate axis, the motion energy of the remote control device based on the acceleration and the angular velocity sensor can be more accurately extracted, so that the terminal points of linear motion, arc motion or other irregular motion of the remote control device can be more accurately captured.
5) The robot receives the acceleration change rate, the angular speed change rate, the movement time, the movement distance and the angle data of the remote control device, and judges whether the movement time, the movement distance and the movement angle of the remote control device are within the range of the action time, the action distance and the action angle limit value of the standard fighting action; if the motion time, the motion distance and the motion angle of the remote control device are within the limit range of the motion time, the motion distance and the motion angle of the standard grapple motion, the robot compares the motion data of the remote control device with the standard grapple motion database according to the received motion data of the remote control device, matches the motion data with the specific grapple motion database, and then completes the specific grapple motion. The motion time, the motion distance and the motion angle of the remote control device are within the range of the generalized action time, the motion distance and the motion angle limit value of the standard fighting action, only one basis for judging whether the action is effective is provided, the robot needs to compare the acceleration and angular velocity change rate track with a plurality of characteristic values of the motion track of a certain fighting action in a standard fighting action library, and when a plurality of points in the acceleration and angular velocity change rate track of the remote controller accord with the plurality of characteristic values in the standard characteristic library, the action type of the remote control device can be fully judged. Matching means that the value of a certain track point is greater than, less than or equal to a certain characteristic value according to the comparison requirement. And judging whether the motion trail of the remote controller is consistent or similar to the motion trail of a certain motion in the standard motion library or not by comparing the motion trail with the plurality of characteristic values. The combat action is then determined and executed.
After acquiring the acceleration sensor signal value and the gyroscope sensor angular velocity signal value of the remote control device, separating the gravity acceleration in a dynamic motion environment through a first-order low-pass filter, thereby calculating the component of the gravity acceleration in the X, Y, Z axis direction, eliminating gravity interference, and describing the difference equation as:
wherein,the component of the gravity acceleration in the direction of the X, Y, Z axis is respectively measured and calculated for the ith time,the acceleration data of the original X, Y, Z axis direction measured by the acceleration sensor at the ith time are respectively, k is the filter coefficient of a first-order low-pass filter, and k is determined according to the sensitivity and the stability actually required by the system.
The sum of the acceleration energy and the sum of the angular velocity energy remotely controlled at the X, Y, Z axis are respectively:
wherein E isα、EωRespectively an acceleration energy sum value and an angular velocity energy sum value, m is a sampling frequency set for eliminating environmental noise and user jitter,respectively, linear acceleration values of the acceleration sensor after eliminating the gravity interference in the direction of the X, Y, Z axis,angular velocity values of gyro sensors of the remote control device in the direction of the X, Y, Z axis, respectively; if it isOrThen the current time t is considered0Is the starting point of the fighting action,andand respectively detecting threshold values of the motion starting points of the fighting motion acceleration signal and the angular velocity signal.
The operation formulas of the acceleration change rate and the angular speed change rate in the step 3) are as follows:
wherein,respectively the rate of change of acceleration of the robot in the direction of axis X, Y, Z,the rate of change of the angular velocity of the axis of the remote control X, Y, Z, and p is the number of samples set to eliminate environmental noise and user jitter, respectively.
The formula for calculating the movement distance of the remote control device in the step 3) is as follows:
wherein,respectively, the instantaneous speed value, S, of the remote control device i at the moment in the direction of the X, Y, Z axisx、Sy、SzRespectively, the moving distance t of the remote control device in the direction of X, Y, Z axesi-ti-1N is the total number of sampling times from the action start point to the action end point.
The motion angle calculation formula of the remote control device is as follows:
wherein, ∠ phix、∠φy、∠φzRespectively, the angles of movement of the remote control unit in the direction of axis X, Y, Z.
As shown in FIG. 4, the robot determines the movement time t of the remote control devicen-t0Distance of movement Sx，Sy，SzAnd angle of motion ∠ phix、∠φy、∠φzWhether the formula is in the range of the standard action time, distance and angle limit value of the fighting is as follows:
Tmin≤tn-t0≤Tmax(18)
wherein T ismin,TmaxThe abnormal shaking and slow movement of the remote control device can be filtered by the judgment of the attraction time limit value as the fighting movement time limit value;the motion distance limit values of the remote control device in the direction of the X, Y, Z axis are respectively, and abnormal shaking of the remote control device and non-fighting motions of abnormal motion distance can be filtered through the judgment of introducing the distance limit;the motion angle limit values of the control handle in the X, Y and Z axis directions are respectively, and abnormal shaking of the remote control device and non-fighting motions of abnormal motion angles can be filtered out through judgment of the attraction angle limit. And combining the judgment basis of the plurality of limit values to preliminarily judge whether the remote control device does linear motion or arc motion or both. And judging to further determine the type of the fighting action according to the acceleration and angular speed change rate tracks, and judging that the fighting action is a certain fighting action when the acceleration change rate and the angular speed change rate of the remote control device in the X, Y, Z axis direction simultaneously accord with a plurality of characteristic values of a certain action in a standard fighting action library.
FIG. 5 is a graph showing the acceleration rate of the robot in the X-axis direction when the robot is controlled to make a straight forward punch, in which 6 points A1 are circled at A, B, Cαx,A2αx,B1αx,B2αx,C1αx,C2αxWhen the acceleration change rate curve of the remote control device in the X-axis direction sequentially passes through the 6 characteristic value points within a specific time delta t and the acceleration and the angular speed change rate of the other axis directions simultaneously meet the corresponding characteristic values in the corresponding standard fighting motion library, the motion track of the remote control device is judged to be the forward straight punch.
Similarly, FIG. 6 shows the angular velocity rate of change curve of the robot in the Z-axis direction for the robot "left and right waving" where E, F circles around 4 points E1ωx,E2ωx,F1ωx,F2ωxAnd when the angular speed change rate curve of the remote control device in the Z-axis direction sequentially passes through the 4 characteristic value points within a specific time delta t and the acceleration change rate and the angular speed change rate in other axis directions simultaneously meet a plurality of corresponding characteristic values in the corresponding standard combat action library, judging that the action track of the remote control device is 'left-right waving'. The robot master control system can accurately judge the motion trail and the motion type of the remote control device by integrating the motion time, the motion distance, the motion angle, the acceleration and the change rate trail of the angular velocity, thereby controlling the robot to accurately complete the fighting action. If the robot master control system judges that the movement is effective, the robot starts to plan the movement path and time, and controls the arms to complete corresponding fighting movements by combining the feedback condition of the sensor.
The embodiment of the invention also discloses a system for controlling the remote-controlled robot to fight, which comprises a remote control device, the robot and a robot standard fighting action database module, wherein the remote control device comprises an acceleration sensor as shown in figure 1. The remote control device comprises a microprocessor arithmetic unit, an acceleration sensor, an angular velocity sensor and a wireless transceiving module. As shown in fig. 2, the robot includes a robot main control subsystem, a robot motion subsystem, and a wireless transceiver module. The robotic motion subsystem generally includes an arm servo control unit, a finger servo control unit, a neck and waist servo control unit, and a leg or floor servo control unit. The robot standard combat action database module is arranged in a remote control device, a robot or an independent storage device.
The microprocessor arithmetic unit comprises a gravity acceleration component calculation module which is used for calculating the component of the gravity acceleration in the direction of the X, Y, Z axis.
The microprocessor arithmetic unit also comprises an acceleration energy sum and angular velocity energy sum calculating module, and the acceleration energy sum and angular velocity energy sum calculating module is used for calculating the acceleration energy sum and the angular velocity energy sum.
The microprocessor arithmetic unit also comprises an acceleration change rate and angular velocity change rate calculation module, and the acceleration change rate and angular velocity change rate calculation module is used for calculating the acceleration change rate and the angular velocity change rate.
The microprocessor arithmetic unit also comprises a movement distance and movement angle calculating module which is used for calculating the movement distance and movement angle.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A method for remotely controlling a robot to fight is characterized by comprising the following steps of:
1) establishing a standard combat action database of the robot, wherein the standard combat action database comprises acceleration and angular velocity characteristic values of each combat action in specific time, and a starting point threshold, an end point threshold, movement time, movement distance and movement angle of each combat action;
2) collecting acceleration sensor signal values and gyroscope sensing of the remote control deviceAn angular velocity signal value; calculating an acceleration energy sum and an angular velocity energy sum of X, Y, Z axes of the remote control device in a coordinate system within a certain time according to the acceleration sensor signal value and the gyroscope sensor angular velocity signal value of the remote control device; when the sum of the acceleration energy or the sum of the angular velocity energy of the remote control device on the X, Y, Z axis is larger than the fighting motion starting threshold, judging the current time t0The starting time of the fighting action is set;
3) after the starting point time of the fighting action is judged, calculating and recording the acceleration change rate, the angular speed change rate, the movement distance and the angle of the remote control device in the direction of the X, Y, Z axis in real time;
4) continuously acquiring the acceleration sensor signal value and the gyroscope sensor angular velocity signal value of the remote control device; calculating an acceleration energy sum and an angular velocity energy sum of X, Y, Z axes of the remote control device in a coordinate system within a certain time according to the acceleration sensor signal value and the gyroscope sensor angular velocity signal value of the remote control device; when the sum of the acceleration energy of the remote control device on the X, Y, Z axis is less than or equal to the fighting motion end point threshold value, and the sum of the angular velocity energy is less than or equal to the fighting motion end point threshold value, determining the current time tnThe end time of the jousting action, specifically ifAnd isThen the current time t is considerednIn order to be the end point of the movement,andmotion end point detection thresholds, E, for motion acceleration and angular velocity signals, respectivelyα、EωRespectively the sum of the acceleration energiesAnd the sum of the angular velocity energies;
5) the robot receives acceleration change rate, angular speed change rate, movement time, movement distance and angle data of a remote control device, and judges whether the movement time, the movement distance and the movement angle of the remote control device are within the range of action time, action distance and action angle limit values of standard fighting actions; and if the motion time, the motion distance and the motion angle of the remote control device are within the limit value range of the motion time, the motion distance and the motion angle of the standard grapple motion, the robot compares the received motion data of the remote control device with the standard grapple motion database to match a specific grapple motion, and then the specific grapple motion is finished.
2. The method for the remote-controlled robot to fight the battle according to claim 1, wherein after the acceleration sensor signal value and the gyroscope sensor angular velocity signal value of the remote control device are collected, the gravity acceleration is separated in the dynamic motion environment through a first-order low-pass filter, so as to calculate the component of the gravity acceleration in the direction of X, Y, Z axis, and eliminate the gravity interference, and the difference equation is described as:
wherein,the component of the gravity acceleration in the direction of the X, Y, Z axis is respectively measured and calculated for the ith time,the acceleration data of the original X, Y, Z axis direction measured by the acceleration sensor at the ith time are respectively, k is the filter coefficient of a first-order low-pass filter, and k is determined according to the sensitivity and the stability actually required by the system.
3. The method for the remote-controlled robot to fight according to claim 1, wherein the acceleration energy sum and the angular velocity energy sum of the remote control at X, Y, Z axes are respectively:
wherein E isα、EωRespectively an acceleration energy sum value and an angular velocity energy sum value, m is a sampling frequency set for eliminating environmental noise and user jitter,respectively, linear acceleration values of the acceleration sensor after eliminating the gravity interference in the direction of the X, Y, Z axis,angular velocity values of gyro sensors of the remote control device in the direction of the X, Y, Z axis, respectively; if it isOrThen the current time t is considered0Is the starting point of the fighting action,andand respectively detecting threshold values of the motion starting points of the fighting motion acceleration signal and the angular velocity signal.
4. The method for the teleoperated robot to fight according to claim 1, wherein the calculation formula of the acceleration change rate and the angular velocity change rate in the step 3) is as follows:
wherein,respectively the rate of change of acceleration of the robot in the direction of axis X, Y, Z,the rate of change of the angular velocity of the remote control X, Y, Z axis, p, is set to eliminate environmental noise and user vibrationThe number of samplings.
5. The method for the remote-controlled robot to fight according to claim 1, wherein the formula for calculating the movement distance of the remote-controlled device in the step 3) is as follows:
wherein,respectively, the instantaneous speed value, S, of the remote control device i at the moment in the direction of the X, Y, Z axisx、Sy、SzRespectively, the moving distance t of the remote control device in the direction of X, Y, Z axesi-ti-1The sampling time interval of the acceleration sensor and the angular velocity sensor is N, and the total sampling times from the action starting point to the action end point are N;
the motion angle calculation formula of the remote control device is as follows:
wherein, ∠ phix、∠φy、∠φzAre respectively a remote control device at X,Y, Z angle of movement in the axial direction.
6. A system for remotely controlling a robot to fight is characterized by comprising a remote control device, the robot and a robot standard fighting action database module, wherein the remote control device comprises an acceleration sensor; the remote control device comprises a microprocessor arithmetic unit, an acceleration sensor, an angular velocity sensor and a wireless transceiving module; the robot comprises a robot main control subsystem, a robot motion subsystem and a wireless transceiving module; the robot standard combat action database module is arranged in a remote control device, a robot or an independent storage device.
7. The system for the teleoperated robot to fight according to claim 6, wherein the microprocessor arithmetic unit comprises a gravitational acceleration component calculation module for calculating a component of gravitational acceleration in the direction of X, Y, Z axes.
8. The system of claim 6, wherein the microprocessor unit further comprises a combined acceleration energy and angular velocity energy calculation module for calculating a combined acceleration energy and angular velocity energy.
9. The teleoperated robot combat system of claim 6, wherein the microprocessor operating unit further comprises an acceleration rate of change and an angular velocity rate of change calculation module for calculating the acceleration rate of change and the angular velocity rate of change.
10. The system for teleoperated robot combat according to claim 6, wherein the microprocessor operating unit further comprises a movement distance and movement angle calculation module for calculating a movement distance and a movement angle.
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