CN109814432B - Human body follow-up control communication frame generation method and communication method - Google Patents
Human body follow-up control communication frame generation method and communication method Download PDFInfo
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Abstract
The invention relates to a communication frame generation method and a communication method for human body follow-up control, and belongs to the technical field of robots. The communication frame generation method is used for generating a communication frame for a communication device by human body follow-up control and comprises the following steps: generating a start flag indicating a start of a communication frame and an end flag indicating an end of the communication frame; generating information which can be set arbitrarily by the communication equipment, wherein the information comprises an equipment code representing an upper computer; generating data information which can not be set arbitrarily by the communication equipment, wherein the data information sequentially comprises data length, control data and check bits; the communication frame is configured by sequentially combining the start flag, the arbitrarily settable information, the non-arbitrarily settable data information, and the end flag. The invention reduces the multidimensional telepresence operation delay and effectively solves the problem that the prior method for controlling the follow-up of the teleoperation robot system still cannot achieve real-time accurate control.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a communication frame generation method and a communication method for human body follow-up control in a telepresence teleoperation robot system.
Background
The multi-dimensional telepresence robot operation technology based on human body wearing follow-up control is one of the main hotspots of the robot development at present, and is beneficial to realizing industrialization in a short time due to the fact that the distance between the operation technology and the practical application is short, so that the multi-dimensional telepresence robot operation technology is one of the important trends of the robot technology development in one stage in the future. Since it provides a robot platform closest to human behavior for operators, it can play an important role in many fields. The multidimensional telepresence teleoperation electromechanical system technology can be widely applied to military, aerospace industry and civil fields such as anti-terrorism outburst, aircraft on-orbit service, aerospace ground special work, military application and the like.
A multi-dimensional telepresence teleoperation electromechanical system is a robot system which is 'human-in-loop' and has man-machine cooperative working capability, robot control is carried out in a diversified man-machine interaction mode, remote environment sensing is achieved, diversified task execution is flexibly supported based on man-machine cooperation, the characteristics of human logical thinking judgment and strain capability and high robot environment adaptability are organically integrated, and follow-up control, field sound, 3D scene, touch and force sense multi-dimensional information feedback are combined. The system can effectively solve the problem that the current intelligent robot system cannot achieve practical application, has higher operation efficiency and intelligent level than the traditional remote operation robot system controlled by a rocker, a tablet personal computer and the like, and is a research hotspot of the robot system in the future period. However, the method for the follow-up control of the multi-dimensional telepresence teleoperation robot system in the prior art still has the problem that real-time accurate control cannot be achieved.
Disclosure of Invention
In view of the foregoing analysis, embodiments of the present invention are directed to a method for generating a communication frame for human body follow-up control and a communication method thereof, which enable communication to smoothly transmit control information of a plurality of joint angles through a structural design of a communication frame format for human body follow-up control, thereby implementing real-time and accurate follow-up control of a system.
The embodiment of the invention provides a communication frame generation method, which is used for generating a communication frame for communication equipment by human body follow-up control and comprises the following steps: generating a start flag indicating a start of a communication frame and an end flag indicating an end of the communication frame; generating information which can be set arbitrarily by the communication equipment, wherein the information comprises an equipment code representing an upper computer; generating data information which can not be set arbitrarily by the communication equipment, wherein the data information sequentially comprises data length, control data and check bits; the communication frame is configured by sequentially combining the start flag, the arbitrarily settable information, the non-arbitrarily settable data information, and the end flag.
Further, the start mark comprises a frame header I and a frame header II; setting a 1-byte code of the frame header I as 1A, and setting a 1-byte code of the frame header II as FA; the end mark comprises a frame tail I and a frame tail II; wherein, the code of 1 byte of the frame end I is set to be 0D, and the code of 1 byte of the frame end II is set to be 0A.
Further, the device code represents 1-byte code setting of the upper computer to be 01.
Further, the control data sequentially comprises 3 degrees of freedom of the waist, 3 degrees of freedom of the neck, 6 degrees of freedom of each arm, and 5 degrees of freedom of each hand, and each degree of freedom adopts 1 byte of information; the data length is the length of the control data in one frame, a field LEN of 1 byte is adopted, and the code is set to be 1C; the check bit is set by taking the least significant byte after the summation of all data bytes, and the data bytes comprise 32 bytes in total, including 1 byte of the frame header I, 1 byte of the frame header II, 1 byte of the equipment code, 1 byte of the data length and 28 bytes of the control data.
Further, the fields of the 3-byte information of the waist sequentially comprise a waist heading WAT-Y, a waist pitching WAT-P and a waist rolling WAT-R, the fields of the 3-byte information of the NECK sequentially comprise a NECK heading NECK-Y, a NECK pitching NECK-P and a NECK rolling NECK-R, the fields of the 6-byte information of the left ARM are ARM-L, the fields of the 6-byte information of the right ARM are ARM-R, the fields of the 5-byte information of the left HAND are HAND-L, and the fields of the 5-byte information of the right HAND are HAND-R.
The beneficial effects of the above technical scheme are as follows: the invention discloses a communication frame generation method, which is used for generating a communication frame for communication equipment by human body follow-up control and comprises the following steps: generating a start flag indicating a start of a communication frame and an end flag indicating an end of the communication frame; generating information which can be set arbitrarily by the communication equipment, wherein the information comprises an equipment code representing an upper computer; generating data information which can not be set arbitrarily by the communication equipment, wherein the data information sequentially comprises data length, control data and check bits; the communication frame is configured by sequentially combining the start flag, the arbitrarily settable information, the non-arbitrarily settable data information, and the end flag. The invention effectively solves the problem that the prior art still has the problem that the real-time accurate control cannot be achieved in the method for the follow-up control of the multi-dimensional telepresence teleoperation robot system.
In another embodiment based on the above communication frame, the communication method for human body follow-up control includes the following steps: acquiring human body follow-up control actions of control personnel to obtain continuous action data and generate continuous data frames; transmitting the data frame to an upper computer for data remapping processing to generate the communication frame; and sending the communication frame to a computer system in the robot to control the robot to execute corresponding continuous actions.
Further, the control action is collected through a motion capture device worn on the body of the operator; the motion capture equipment generates continuous data frames from the collected continuous motion data and transmits the continuous data frames to the upper computer.
Further, the continuous data frame comprises 28 joint data of the whole body of the operator; software of the upper computer performs analog-to-digital conversion on the collected joint data and calls a bus interface to send control data of each group of joints to a data transmission radio station; the data transmission station wirelessly transmits the control data to a computer system of the two-arm anthropomorphic robot at a frame rate of 20 to 60 frames per second, so that the robot performs corresponding continuous actions.
Further, the double-arm anthropomorphic robot comprises 28 electric joints of the whole body, and is controlled by using 28 paths of PWM signals; the 28 paths of PWM signals comprise 3 paths of PWM signals with 3 degrees of freedom waist, 3 paths of PWM signals with 3 degrees of freedom neck posture control, 6 paths of PWM signals with 6 degrees of freedom mechanical arm I, 6 paths of PWM signals with 6 degrees of freedom mechanical arm II, 5 paths of PWM signals with 5 fingers of the dexterous hand I and 5 paths of PWM signals with 5 fingers of the dexterous hand II.
Further, 28 electric joints of the double-arm anthropomorphic robot are also controlled by using digital signals of angle values; the 28-path angle numerical value signal comprises 3-path angle numerical values of 3-degree-of-freedom waist, 3-path angle numerical values of 3-degree-of-freedom neck posture control, 6-path angle numerical values of 6-degree-of-freedom mechanical arm I, 6-path angle numerical values of 6-degree-of-freedom mechanical arm II, 5-path angle numerical values of 5-finger dexterous hand I and 5-path angle numerical values of 5-finger dexterous hand II.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a schematic diagram of correspondence between an operator and a robot skeleton node and degrees of freedom according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a communication frame format according to an embodiment of the present invention;
fig. 3 is a flowchart of a communication method for human body follow-up control according to an embodiment of the present invention;
fig. 4 is a diagram illustrating a complete system presence delay according to an embodiment of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
The technical idea of the embodiment of the invention is as follows: based on motion capture and motion mapping technology of inertial node posture collection in a console worn by a human body, more than 30 joint data of the whole body of an operator can be obtained, the joint data is output in a standard skeleton BVH file format, key node data in the joint data is screened and proposed, and the key node data is mapped to a robot through a data communication control method, so that the control of the robot is realized. The follow-up control of the double-arm anthropomorphic robot is the direct and final embodiment of command execution and data flow of the whole robot system, the accuracy and the real-time performance of the action of the double-arm anthropomorphic robot directly influence the integrity and the efficiency of task execution of the system, and the follow-up control is also one of the main characteristics of whether the performance of the whole system meets the task requirements. The premise of realizing accurate follow-up control is that the skeleton topology structure of the motion capture equipment worn by the operator is the same as that of the robot. As shown in FIG. 1, the left side is a division form commonly used for the degree of freedom of the left arm of a human body, the right side is a schematic representation of the degree of freedom of the mechanical arm of a robot model, the degree of freedom of the left arm and the degree of freedom of the mechanical arm of the robot model are in one-to-one correspondence in modeling, and the degrees of freedom of the joint points of the right arm, the waist and the neck and the like.
In an embodiment of the present invention, a method for generating a communication frame for a human body follow-up control communication device includes: generating a start flag indicating a start of a communication frame and an end flag indicating an end of the communication frame; generating information which can be set arbitrarily by the communication equipment, wherein the information comprises an equipment code representing an upper computer; generating data information which can not be set arbitrarily by the communication equipment, wherein the data information sequentially comprises data length, control data and check bits; the communication frame is configured by sequentially combining the start flag, the arbitrarily settable information, the non-arbitrarily settable data information, and the end flag. Compared with the prior art, the remote control robot system has the advantages that the telepresence control delay is effectively reduced through the structural design of the communication frame format of the human body follow-up control, and the real-time and accurate follow-up control of the remote control robot system is realized.
Fig. 2 is a schematic diagram of a communication frame format according to the present invention.
In an embodiment of the present invention, as shown in fig. 2, the start mark includes a frame header I and a frame header II; setting a 1-byte code of the frame header I as 1A, and setting a 1-byte code of the frame header II as FA; the end mark comprises a frame tail I and a frame tail II; wherein, the code of 1 byte of the frame end I is set to be 0D, and the code of 1 byte of the frame end II is set to be 0A.
It should be noted that in practical applications, the frame header uses 1AFA, which is determined according to the motor control data range represented by WAT, NECK, ARM, and HAND, and the like, and is set to identify the start of a frame of complete data during communication, and the frame end uses 0D0A to identify the end of a frame of complete data during communication. The motor control data represent each degree of freedom motion value, the size of the motor control data is a certain range interval, 1AFA and 0D0A can not appear in any two adjacent bytes in 28 bytes formed continuously by WAT, NECK, ARM, HAND and the like, namely, due to the limitation of the range of the motor control data values, in the normal operation and execution of the robot system, 1AFA and 0D0A can not appear in any two adjacent motor control data. By adopting 1AFA as a frame header and 0D0A as a frame tail, in the communication process, the interception of the data frame can not start and end from 28-byte motor control data continuously formed by WAT, NECK, ARM, HAND and the like, the identification rate of the data frame can be effectively improved, the execution efficiency of a communication system is further improved, the transmission of error frames is reduced, and the requirements of low-delay and high-precision data transmission are met.
In one embodiment of the present invention, as shown in fig. 2, the device code represents 1-byte code setting of the upper computer as 01. That is to say, this embodiment gives the role of the upper computer in the communication process, after the system is in place, the operator sends out continuous motion according to the task target, the motion capture device captures continuous motion data of the operator to form continuous data frames, and sequentially transmits the continuous motion data to the upper computer with the remapping capability, and the processing unit of the upper computer performs smooth filtering processing on each frame of received data, and then performs data remapping processing to generate a new data frame, that is, the communication frame of the present invention. In the actual design scheme, Labview is used for building upper computer software for acquisition and data transmission to evaluate data processing time, and the evaluation result shows that the data processing time is about 10.6 ms.
In an embodiment of the present invention, as shown in fig. 2, the control data sequentially includes 3 degrees of freedom of the waist, 3 degrees of freedom of the neck, 6 degrees of freedom of each arm, and 5 degrees of freedom of each hand, and each degree of freedom adopts 1 byte of information; the data length is the length of the control data in one frame, a field LEN of 1 byte is adopted, and the code is set to be 1C; the check bit is set by taking the least significant byte after the summation of all data bytes, and the data bytes comprise 32 bytes in total, including 1 byte of the frame header I, 1 byte of the frame header II, 1 byte of the equipment code, 1 byte of the data length and 28 bytes of the control data.
It should be noted that, as can be seen from fig. 2, the motion gesture control occupies 28 bytes, and the total of 35 bytes are added to the header, the data length bit, the parity bit, and the trailer. In addition, in the case of transmitting the total of 280 bits of one frame of data, since functional bits such as start bits and stop bits are added when the data is transmitted to the underlying hardware, the data is transmitted with 400 bits of one frame of data, so that the control information of a plurality of joint angles can be smoothly transmitted.
In a specific embodiment of the present invention, as shown in fig. 2, the 3-byte information field of the waist sequentially includes a waist heading WAT-Y, a waist pitch WAT-P, and a waist roll WAT-R, the 3-byte information field of the NECK sequentially includes a NECK heading NECK-Y, a NECK pitch NECK-P, and a NECK roll NECK-R, the 6-byte information field of the left ARM is ARM-L, the 6-byte information field of the right ARM is ARM-R, the 5-byte information field of the left HAND is HAND-L, and the 5-byte information field of the right HAND is HAND-R.
It should be noted that the WAT, NECK, ARM and HAND motor control data represent the motion state and angle value of each degree of freedom, and the size of the data has a certain range interval, and the control value ranges of the waist, NECK, ARMs and joints of both HANDs are different according to the configuration and control requirements.
Referring to fig. 2 and table one, it can be seen that the format of the communication data frame of the present invention includes a 2-byte header field 1AFA, a 1-byte device code field 01, a 1-byte data length field LEN, a 3-byte waist control data field WAT, a 3-byte NECK control data field NECK, a 12-byte double-ARM control data field ARM, a 10-byte double-HAND control data field HAND, a 1-byte check bit field SUM, and a 2-byte trailer field 0D 0A.
Watch 1
Fig. 3 is a flowchart of a communication method of human body follow-up control according to the present invention.
In an embodiment of the present invention, as shown in fig. 3, a communication method for human body follow-up control includes the following steps:
s301, acquiring human body follow-up control actions of control personnel to obtain continuous action data and generate continuous data frames;
s302, transmitting the data frame to an upper computer for data remapping processing to generate the communication frame;
and S303, sending the communication frame to a computer system in the robot to control the robot to execute corresponding continuous actions.
The invention discloses a communication method for human body follow-up control, which comprises the steps of collecting human body follow-up control actions of control personnel to obtain continuous action data and generating continuous data frames; transmitting the data frame to an upper computer for data remapping processing to generate the communication frame; and sending the communication frame to a computer system in the robot to control the robot to execute corresponding continuous actions. Compared with the prior art, the embodiment of the invention effectively solves the problem that the follow-up control method for the multi-dimensional telepresence teleoperation robot system in the prior art cannot achieve real-time accurate control.
It should be noted that, the human body action of the operator is captured and mapped and reduced to the following robot, and the robot action is required to be accurate and have real-time performance so as to meet the task requirement. Since human beings are familiar with human body actions, the action deviation of the anthropomorphic robot is easy to be found by teleoperators and adjusted in real time. However, the motion data captured by the motion capture device can only be directly applied to a robot having the same skeleton topology and the same skeleton length as the original manipulator, and if the skeleton topology or the skeleton length of the robot is different from that of the manipulator, the direct mapping easily violates the inherent motion property of the manipulator, which causes distortion and inaccuracy of the robot motion. Therefore, potential action distortion caused by incomplete consistency of the skeleton of the operator and the skeleton of the robot is solved through the action remapping technology of the upper computer. In order to enable the action control of the anthropomorphic robot to have higher robustness and meet the requirements of operators with different body types and different tasks, a human-computer action remapping technology is adopted, and the remapping has the characteristics of high precision and real time. That is, the motion data captured directly is subjected to data remapping processing, and a communication frame generated after remapping processing is sent to a computer system in the double-arm anthropomorphic robot in real time through a wireless data link, the computer system sends an action signal to the robot, and the robot receives the action data frame to execute the action. And circulating in this way, and connecting continuous multi-frame data in series to form a motion segment until the task is finished.
It should be further noted that the computer system is a core part of the electric control system of the double-arm anthropomorphic robot, and is mainly responsible for functions such as data distribution and data processing. The computer system is a "mirror image" of the operator's mind and awareness on the robot. The system mainly comprises a core processor, a coprocessor, a communication interface module, a navigation positioning module, a data interface, a power supply conversion module, a bus interface and a software system operating system. The processor of the computer system platform is divided into a core processor and an execution processor, wherein the core processor is responsible for realizing the functions of data receiving, data storage, navigation positioning data processing, self attitude data processing, bus scheduling, video processing and the like; the execution processor is responsible for the specific control of the mechanical arm, the waist, the neck and the dexterous hand of the anthropomorphic robot and the acquisition of force feedback analog quantity data. A CAN bus, a 485 bus and a UART communication interface are reserved between the core processor and the execution processor, so that data interaction between the two processors is realized.
In one embodiment of the present invention, the manipulation action is collected by a motion capture device worn on the operator; the motion capture equipment generates continuous data frames from the collected continuous motion data and transmits the continuous data frames to the upper computer. That is, the multi-dimensional telepresence teleoperation electromechanical system is characterized in that the multi-dimensional telepresence teleoperation electromechanical system can complete the motion with the same posture as that of an operator, and the function is acquired through motion capture equipment worn on the operator.
It should be noted that, the wearable motion capture device is generally applied to industries such as movie and television, animation, etc., and the requirement on the acquisition precision is not high. Furthermore, conventional motion capture devices are not closed loop control devices because they are not used to control robots. Even if the traditional motion capture equipment is used, only simple posture control can be realized, and the control personnel cannot obtain the mechanical telepresence information of the controlled robot, such as touch, grasping, force and the like. Therefore, in order to make the double-arm anthropomorphic robot have low-delay and high-precision attitude follow-up, the design of a man-machine remapping technology and a high-precision anthropomorphic actuating mechanism is not enough, and the high-precision motion control is needed to meet the relevant requirements.
In one embodiment of the present invention, the continuous data frame comprises 28 joint data of the whole body of the operator; software of the upper computer performs analog-to-digital conversion on the collected joint data and calls a bus interface to send control data of each group of joints to a data transmission radio station; the data transmission station wirelessly transmits the control data to a computer system of the two-arm anthropomorphic robot at a frame rate of 20 to 60 frames per second, so that the robot performs corresponding continuous actions. In practical application, the upper computer of the teleoperation system of the embodiment is designed by adopting Labview software, the upper computer software can be directly interconnected with the USB-6218 without developing a bottom-layer drive of the acquisition card, the upper computer software can perform analog-to-digital conversion on data acquired by the USB-6218, and a 485 bus interface is called to transmit control signal data of each group of joints to the data transmission station.
It should be noted that, when the operation command is sent by the operator, the long delay of observing the operation effect will seriously affect the presence effect of the whole system, and also cause the low operation timeliness. The prior research data shows that the telepresence operation delay of no more than 200ms is an acceptable range for the operator, and the telepresence delay of more than 200ms makes the operator obviously feel that the behavior is influenced. As described above and referring to the diagram of the presence delay shown in fig. 4, if the data transmission time is calculated according to the 400bit frame data of the embodiment of the present invention: 400bit/115200bps ≈ 3.5ms where 115200 is the transmit port baud rate. After the data is sent to the data radio station, the data radio station sends the data radio station to a computer system of the double-arm anthropomorphic robot through a transmitting antenna. The data processing time given by the AS61-DTU30 data transmission station is less than 5ms, the airspeed is 70Kbps, and therefore the sum of the transmitting time and the air time can be calculated AS follows: 5ms +400bit/70Kbps is 10.7 ms; considering that the computer of the double-arm anthropomorphic robot electric control system needs to repeat the steps when receiving, the whole data transmission time is as follows: 2 × (data transmission/reception time (3.5ms) + station processing data time (5ms)) + air time (10.7ms) is 27.7 ms. After data acquisition, processing and sending are finished, a coprocessor of a computer of the double-arm anthropomorphic robot electric control system directly processes the data, the dominant frequency of the processor is 200MHz, the data are converted into pulse width of 1-2 ms to be output, the coprocessor usually adopts a counting interval of 0.5us, and therefore the maximum data processing time of the coprocessor is 4 ms. From the above, it can be seen that the steering delay of the present invention is about: the acquisition time of the USB data acquisition card (32us) + the processing time of the teleoperation upper computer (10.6ms) + the data transmission time (27.7ms) + the processing time of the computer of the robot electric control system (4 ms), and the total time is about 43 ms. From the above calculation, the present invention greatly reduces the manipulation delay, and the adopted technical scheme can meet the requirement that the manipulation delay is less than 50 ms.
According to a specific embodiment of the invention, the double-arm anthropomorphic robot comprises 28 electric joints of the whole body, and is controlled by using 28 paths of PWM signals. That is to say, the whole body of the double-arm anthropomorphic robot totally has 28 electric joints, 28 paths of PWM signals are needed to be used for control, the 28 paths of control signals are collected in an analog quantity mode at a teleoperation end, therefore, in the application, data collection card USB-6218 of NI company is directly selected to complete data collection of model signals, the data collection card has 32 paths of analog quantity input channels, the resolution ratio is 16 bits, the sampling rate can reach 400ks/s at most, and one-time sampling time is 32 us.
In an embodiment of the present invention, the 28-channel PWM signals include 3-channel PWM of 3-degree-of-freedom waist, 3-channel PWM of 3-degree-of-freedom neck posture control, 6-channel PWM of 6-degree-of-freedom robot arm I, 6-channel PWM of 6-degree-of-freedom robot arm II, 5-channel PWM of 5-finger dexterous hand I, and 5-channel PWM of 5-finger dexterous hand II. That is, the embodiment of the present invention implements allocation of control resources of the robot, and the allocation of control resources of related execution mechanisms in the robot is shown in table two:
watch two
| Serial number | Name (R) | Resource(s) |
| 1 | 3 degree of freedom waist | 3-way PWM |
| 2 | Neck pose control | 3-way PWM |
| 3 | 6-degree-of-freedom mechanical arm I | 6-way PWM |
| 4 | 6 degree of freedom arm II | 6-way PWM |
| 5 | 5-finger dexterous hand I | 5-way PWM |
| 6 | 5-finger dexterous hand II | 5-way PWM |
It should be noted that the robot control resource is mainly allocated by the execution processor of the computer system, and the rest of the I/O are all led out to the external connector except for the basic internal communication, power supply, crystal oscillator, debugging and other interfaces. The computer system distributes external control resources, and because the control I/O ports of the computer system can carry out function multiplexing, the computer system can be compatible with different control modes and is controlled by a bus, thereby ensuring that the distribution of the control resources has stronger flexibility and being convenient for the subsequent expansion and upgrade of the system.
In one embodiment of the invention, the 28 electric joints of the double-arm anthropomorphic robot are also controlled by using digital signals of angle values; the 28-path angle numerical value signal comprises 3-path angle numerical values of 3-degree-of-freedom waist, 3-path angle numerical values of 3-degree-of-freedom neck posture control, 6-path angle numerical values of 6-degree-of-freedom mechanical arm I, 6-path angle numerical values of 6-degree-of-freedom mechanical arm II, 5-path angle numerical values of 5-finger dexterous hand I and 5-path angle numerical values of 5-finger dexterous hand II.
It should be noted that the whole executing mechanism of the anthropomorphic robot has 28 degrees of freedom, and each degree of freedom is completed by one motor. Related driving motors of the executing mechanism rotate according to the rotating angles required by the executing mechanism, namely, the driving is controlled through digital signals of angle numerical values, and the design index of positioning time of any posture of the executing mechanism is not more than 1 second. The term "arbitrary gesture positioning time" means that when the operator makes a gesture (ergonomically, the time for normal human actions is usually more than 1 second), the related driving motors of the actuators rotate at the same time according to the rotation angle required by each operator, and all the rotation actions need to be completed within 1 second.
In summary, the embodiment of the present invention discloses a method for generating a communication frame for a human body follow-up control to generate a communication frame for a communication device, including: generating a start flag indicating a start of a communication frame and an end flag indicating an end of the communication frame; generating information which can be set arbitrarily by the communication equipment, wherein the information comprises an equipment code representing an upper computer; generating data information which can not be set arbitrarily by the communication equipment, wherein the data information sequentially comprises data length, control data and check bits; the communication frame is configured by sequentially combining the start flag, the arbitrarily settable information, the non-arbitrarily settable data information, and the end flag. Meanwhile, the communication method based on the human body follow-up control of the communication frame comprises the following steps: acquiring human body follow-up control actions of control personnel to obtain continuous action data and generate continuous data frames; transmitting the data frame to an upper computer for data remapping processing to generate the communication frame; and sending the communication frame to a computer system in the robot to control the robot to execute corresponding continuous actions. According to the technical scheme, the communication can smoothly transmit the control information of a plurality of joint angles through the structural design of the communication frame format of the human body follow-up control, the telepresence control delay is effectively reduced, and the real-time accurate follow-up control of the remote control robot system is realized.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (6)
1. A communication frame generation method for human body follow-up control to generate a communication frame for a communication device, comprising: generating a start flag indicating a start of a communication frame and an end flag indicating an end of the communication frame;
generating information which can be set arbitrarily by the communication equipment, wherein the information comprises an equipment code representing an upper computer;
generating data information which can not be set arbitrarily by the communication equipment, wherein the data information sequentially comprises data length, control data and check bits;
the control data sequentially comprises 3 degrees of freedom of a waist, 3 degrees of freedom of a neck, 6 degrees of freedom of each arm and 5 degrees of freedom of each hand, and each degree of freedom adopts 1 byte of information;
the field of the 3-byte information of the waist sequentially comprises a waist course WAT-Y, a waist pitching WAT-P and a waist rolling WAT-R, the field of the 3-byte information of the NECK sequentially comprises a NECK course NECK-Y, a NECK pitching NECK-P and a NECK rolling NECK-R, the field of the 6-byte information of the left ARM is ARM-L, the field of the 6-byte information of the right ARM is ARM-R, the field of the 5-byte information of the left HAND is HAND-L, and the field of the 5-byte information of the right HAND is HAND-R;
the data length is the length of the control data in one frame, a field LEN of 1 byte is adopted, and the code is set to be 1C;
the check bit is set by taking the least significant byte after the addition of each data byte, and the data bytes comprise 32 bytes in total, including 1 byte of the frame header I, 1 byte of the frame header II, 1 byte of the equipment code, 1 byte of the data length and 28 bytes of the control data;
the communication frame is configured by sequentially combining the start flag, the arbitrarily settable information, the non-arbitrarily settable data information, and the end flag.
2. The method according to claim 1, wherein the start flag includes a frame header I and a frame header II; setting a 1-byte code of the frame header I as 1A, and setting a 1-byte code of the frame header II as FA;
the end mark comprises a frame tail I and a frame tail II; wherein, the code of 1 byte of the frame end I is set to be 0D, and the code of 1 byte of the frame end II is set to be 0A.
3. The communication frame generation method according to claim 1, wherein the device code represents a 1-byte code setting of the upper computer as 01.
4. A communication method of human body follow-up control based on the communication frame generation method of any one of claims 1 to 3, characterized by comprising the steps of:
acquiring human body follow-up control actions of control personnel to obtain continuous action data and generate continuous data frames; the continuous data frame comprises 28 joint data of the whole body of the operator;
transmitting the data frame to an upper computer for data remapping processing to generate the communication frame; software of the upper computer performs analog-to-digital conversion on the collected joint data and calls a bus interface to send control data of each group of joints to a data transmission radio station;
the data transmission radio station wirelessly transmits the control data to a computer system of the double-arm anthropomorphic robot at a frame rate of 20-60 frames per second, so that the robot executes corresponding continuous actions;
the double-arm anthropomorphic robot comprises 28 electric joints of the whole body, and is controlled by using 28 paths of PWM signals;
the 28 paths of PWM signals comprise 3 paths of PWM with 3 degrees of freedom waist, 3 paths of PWM with 3 degrees of freedom neck posture control, 6 paths of PWM with 6 degrees of freedom mechanical arm I, 6 paths of PWM with 6 degrees of freedom mechanical arm II, 5 paths of PWM with 5 fingers of dexterous hand I and 5 paths of PWM with 5 fingers of dexterous hand II;
and sending the communication frame to a computer system in the robot to control the robot to execute corresponding continuous actions.
5. The communication method according to claim 4, wherein the manipulation action is collected by a motion capture device worn on the operator;
the motion capture equipment generates continuous data frames from the collected continuous motion data and transmits the continuous data frames to the upper computer.
6. The communication method according to claim 4, wherein the 28 electric joints of the double-arm anthropomorphic robot are also controlled using digital signals of angle values;
the 28-path angle numerical value signal comprises 3-path angle numerical values of 3-degree-of-freedom waist, 3-path angle numerical values of 3-degree-of-freedom neck posture control, 6-path angle numerical values of 6-degree-of-freedom mechanical arm I, 6-path angle numerical values of 6-degree-of-freedom mechanical arm II, 5-path angle numerical values of 5-finger dexterous hand I and 5-path angle numerical values of 5-finger dexterous hand II.
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