CN110039545A - A kind of robot remote control system and control method based on wearable device - Google Patents
A kind of robot remote control system and control method based on wearable device Download PDFInfo
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- CN110039545A CN110039545A CN201910363168.1A CN201910363168A CN110039545A CN 110039545 A CN110039545 A CN 110039545A CN 201910363168 A CN201910363168 A CN 201910363168A CN 110039545 A CN110039545 A CN 110039545A
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The present disclosure proposes robot remote control systems and control method based on wearable device, it first proposed a kind of robot remote control system based on wearable device, by the way that wearable equipment is arranged, improve the intuitive of manipulation, liberate the both hands of robot manipulator, two kinds of control methods based on control system are had also been proposed simultaneously, realize the long-range control from end robot.One of method acts positions from the different of end robot using the different hand control of manipulator when being controlled, it is higher to control the accuracy that can to execute command action from end robot respectively by right-hand man, another method makes control staff get rid of the dependence to physical controller by setting linking hand-type；Compared to discrete control of the gesture-type realization to robot motion is used only, the disclosure may be implemented continuously accurately to control the increment type of reconnaissance system terminal position.
Description
Technical field
This disclosure relates to the long-range control correlative technology field of mobile robot, in particular to a kind of based on can
The robot remote control system and control method of wearable device.
Background technique
The statement of this part only there is provided background technical information relevant to the disclosure, not necessarily constitutes first skill
Art.
Ground armed reconnaissance robot can execute battlefield and approach reconnaissance and surveillance, surprise attack of moving under water, pinpoint and clean up, at core biochemistry
A variety of combat duties such as reason and anti-terror explosive removing.The tele-control system of traditional mobile robot generally use with rocking bar and by
The control cabinet of key controls box to realize.For carrying the mobile robot of multi-degree-of-freemechanical mechanical arm, the key of control cabinet is more
Many and diverse, manipulator needs to remember the corresponding relationship of each key and mobile robot and vehicle-mounted mechanical arm, and control mode is very not
Intuitively.Mobile robot and vehicle-mounted reconnaissance system all do not get rid of the dependence to rocking bar, and rocking bar needs control cabinet and correlation
Hardware device support, therefore the volume of the controller of traditional movable reconnaissance robot is all universal larger, thus bring
Problem is inconvenient to carry and transport.
Gesture be it is more naturally a kind of in human communication's means, for special technical soldier, sign language is and teammate
Link up and convey the required means of instruction.When especially for being inconvenient to that voice is used to be linked up, gesture is almost special technical soldier
Between link up and convey instruction the only resource.It is remotely controlled currently based on the human-computer interaction of human body gesture main using wearing number
According to the mode of gloves or inertance element, its advantage is that discrimination is high, stability is good, the disadvantage is that input equipment is expensive, wearing is very
It is inconvenient.Therefore, for fully armed soldier, the human-computer interaction remote operating of ground armed reconnaissance robot how is improved
Control system portability and manipulation intuitive are very urgent demands.
Also occurs the control mode using touch screen tablet computer in recent years, this control mode is by using different touchings
Shield gesture instead of rocking bar and button, although this greatly reduces controller volume, still can occupy manipulator
Both hands.For soldier fully armed on battlefield, the entity controller with constant weight and certain volume
It is a kind of no small burden, and it is (hand-held in combat situation (hand-held weapon) and manipulation state to be unfavorable for fully armed soldier
Controller) between be quickly converted.
Summary of the invention
The disclosure to solve the above-mentioned problems, propose a kind of robot remote control system based on wearable device and
Control method first proposed a kind of robot remote control system based on wearable device, by the way that wearable set is arranged
It is standby, the intuitive of manipulation is improved, the both hands of robot manipulator are liberated, while having also been proposed two kinds of controls based on control system
Method processed realizes the long-range control from end robot.
To achieve the goals above, the disclosure adopts the following technical scheme that
One or more embodiments provide a kind of robot remote control system based on wearable device, including pass through
The wearable remote operating control device in the main side of wireless connection and from end robot, the wearable remote operating control device in main side wears
It is worn over manipulator, for sending control instruction and receiving the data acquired from end robot；
The wearable remote operating control device in main side includes wearable visual apparatus, wearable video display apparatus, nothing
Line transmission device and remote operating master controller, the wearable visual apparatus, wearable video display apparatus and wireless transmission are set
Back-up is not connect with remote operating master controller；Wearable visual apparatus is worn on manipulator's head position, for acquiring manipulator
Movement, remote operating master controller generates control instruction according to corresponding movement and is sent to from end robot.
The disclosure is mentioned by the way that wearable equipment, including wearable visual apparatus and wearable video display apparatus is arranged
The high intuitive of manipulation, liberates the both hands of robot manipulator, and apparatus structure is simple, convenient for wearing, is convenient for manipulator
Weapon can be held simultaneously while operating robot or carries out other hand motions.
One or more embodiments are provided based on a kind of above-mentioned robot remote control system based on wearable device
Control method, respectively acquire manipulator left hand and the right hand movement, pass through the action control mobile robot vehicle of a hand
The movement of body, by the movement of the vehicle-mounted multi-degree-of-freemechanical mechanical arm of the action control mobile robot of another hand, including it is as follows
Step:
Step 1: acquisition manipulator's wearable device can image in coverage；
Step 2: judging whether there is hand region in the image of acquisition, if not provided, executing step 1；Otherwise, to acquisition
Image is pre-processed, and hand cut-parts are obtained；
Step 3: it is left hand cut-parts or right hand cut-parts using the hand cut-parts that the judgement of right-hand man's distinguished number obtains, thus
It determines and does that act is left hand or the right hand；
Step 4: by the movement of the wherein action control mobile robot car body of a hand, passing through the movement of another hand
The movement of the vehicle-mounted multi-degree-of-freemechanical mechanical arm of mobile robot is controlled, then, executes step 1.
The above-mentioned control method that the disclosure proposes is controlled using the different hand of manipulator from end robot when being controlled
Different movement positions, control the movement of movement and multi-degree-of-freemechanical mechanical arm end of the car body on road surface respectively.Pass through left and right
Hand controls respectively can make the accuracy from end robot execution command action higher, reduce the malfunction from end robot
Rate.
One or more embodiments are provided based on a kind of above-mentioned robot remote control system based on wearable device
Control method, the mobile control method of the vehicle-mounted multi-degree-of-freemechanical mechanical arm wide scope of robot includes the following steps:
Step 1: it is corresponding different from end robot to set different hand-types for setting linking hand-type and corresponding gesture motion
Movement, linking hand-type can be set as vehicle-mounted multi-degree-of-freemechanical mechanical arm end current location wait next instruction；
Step 2: acquisition manipulator's wearable device can image in coverage；
Step 3: judging whether there is hand region in the image of acquisition, if not provided, executing step 2；Otherwise, to acquisition
Image pre-processed, obtain hand cut-parts, and perform the next step；
Step 4: hand-type identification is carried out to pretreated hand cut-parts using hand-type recognizer, obtains hand-type information；
Step 5: judge whether the hand-type information obtained is linking hand-type, if so, vehicle-mounted multi-degree-of-freemechanical mechanical arm end
It continuously performs the linking previous hand-type of hand-type and is connected the movement of the corresponding control instruction of the latter hand-type of hand-type, and execute step
Two；Otherwise, perform the next step.
Step 6: corresponding movement is executed according to corresponding hand-type, and executes step 2.
Second control method of the disclosure is connected hand-type by setting, the increasing to reconnaissance system terminal position may be implemented
Amount formula continuously accurately controls, and control more meets the operating habit of people.
Compared with prior art, the disclosure has the beneficial effect that
(1) a kind of robot remote control system based on wearable device that the disclosure proposes, it is wearable by being arranged
Equipment, including wearable visual apparatus and wearable video display apparatus improve the intuitive of manipulation, liberation robot behaviour
The both hands of control person, and apparatus structure is simple, convenient for wearing, can hold simultaneously while operating robot convenient for manipulator
Weapon carries out other hand motions.
(2) first control method that the disclosure proposes is controlled using the different hand of manipulator from end when being controlled
The different movement positions of robot.Control the accuracy that can make that command action is executed from end robot respectively by right-hand man
It is higher, and different gesture-types, the respectively identification and movement of gesture are set to from the control of end robot different parts
The identification of track, distinguish control again is mobile robot car body or vehicle-mounted multi-degree-of-freemechanical mechanical arm, is reduced from terminal
The malfunction rate of device people.Manipulator two makees to be different types of movement manually simultaneously, avoids the confusion for causing manipulator, controls
Logic is simple, is easy memory, facilitates operation.
(3) second control method of the disclosure is connected hand-type by setting, within sweep of the eye by the camera shooting of control staff's supra-aural
Region become a virtual touch screen area, so that control staff is got rid of the dependence to physical controller；Compared to using only hand
Gesture type realizes the discrete control to robot motion, and the disclosure may be implemented continuous to the increment type of reconnaissance system terminal position
Accurate control, and control more meets the operating habit of people.
(4) disclosure may be implemented by rotation angle of the measurement certain gestures in image to movable reconnaissance robot vehicle
Carry the accurate control that multi-degree-of-freemechanical mechanical arm scouts direction.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not constitute the restriction to the application for explaining the application.
Fig. 1 is the structural schematic diagram according to the system of one or more embodiments；
Fig. 2 is the block diagram of the wearable remote operating control device in 1 main side of the embodiment of the present disclosure；
Fig. 3 is the block diagram from end robot of the embodiment of the present disclosure 1；
Fig. 4 is the method flow diagram of the embodiment of the present disclosure 2；
Fig. 5 is the method flow diagram of the embodiment of the present disclosure 3；
Fig. 6 is the gesture schematic diagram that 3 control staff of the embodiment of the present disclosure controls mobile robot body movement；
Fig. 7 is the gesture schematic diagram that 3 control staff of the embodiment of the present disclosure controls that vehicle-mounted multi-degree-of-freemechanical mechanical arm end is turned left；
Fig. 8 is the gesture schematic diagram that 3 control staff of the embodiment of the present disclosure controls that vehicle-mounted multi-degree-of-freemechanical mechanical arm end is turned right；
Fig. 9 is the gesture schematic diagram that 3 control staff of the embodiment of the present disclosure controls that vehicle-mounted multi-degree-of-freemechanical mechanical arm end moves up；
Figure 10 is the gesture schematic diagram that 3 control staff of the embodiment of the present disclosure controls that vehicle-mounted multi-degree-of-freemechanical mechanical arm end moves down；
Figure 11 is the gesture schematic diagram that 3 control staff of the embodiment of the present disclosure controls that vehicle-mounted multi-degree-of-freemechanical mechanical arm end is faced upward；
Figure 12 is the gesture schematic diagram that 3 control staff of the embodiment of the present disclosure controls vehicle-mounted multi-degree-of-freemechanical mechanical arm end nutation；
Wherein: 100, the wearable remote operating control device in main side, 101, remote operating master controller, 102, left wearable vision
Equipment, 103, right wearable visual apparatus, 104, wearable video display apparatus, 105, wireless audio prompt equipment, 106, nothing
Line data transmission equipment, 107, wireless image transmission equipment；
200, from end robot, 201, robot master controller, 202, mobile mechanism, 203, link mechanism, 204, weapon
Device, 205, laser range sensor, 206, trick monitoring camera, 207, vehicle-mounted monitoring camera, 208, laser radar,
209, from end wireless data transmission equipment, 210, from end wireless image transmission equipment, 211, car body drive control device, 212, mechanical arm driving control
Device processed, 213, car body driving motor group, 214, mechanical arm driving motor group.
Specific embodiment:
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that described further below be all exemplary, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.It should be noted that not conflicting
In the case where, the feature in embodiment and embodiment in the disclosure can be combined with each other.Below in conjunction with attached drawing to embodiment
It is described in detail.
In the technical solution disclosed in one or more embodiments, as shown in Figure 1, a kind of based on wearable device
Robot remote control system, including by be wirelessly connected the wearable remote operating control device 100 in main side and from end robot
200, the wearable remote operating control device 100 in main side is worn on manipulator, for send control instruction and receive from
The data for holding robot 200 to acquire；
The wearable remote operating control device 100 in main side includes wearable visual apparatus, wearable video display apparatus
104, radio transmission apparatus and remote operating master controller 101, the wearable visual apparatus, wearable video display apparatus 104
It is connect respectively with remote operating master controller with radio transmission apparatus；Wearable visual apparatus is worn on manipulator's head position, uses
In the movement of acquisition manipulator, remote operating master controller 101 generates control instruction according to corresponding movement and is sent to from terminal
Device people 200.
Wearable visual apparatus is at least arranged one, and as a further improvement, wearable visual apparatus includes that a left side can be worn
Visual apparatus 102 and right wearable visual apparatus 103 are worn, is worn at left and right sides of control staff head respectively, manipulation can be shot
The image in member front, the action message of the hand for acquiring manipulator.The action message of hand may include hand in the picture
Location information and hand-type information.Left wearable visual apparatus and right wearable visual apparatus can be specially supra-aural camera shooting
Head.
The wearable video display apparatus 104 can show the monitoring camera shooting carried from end robot 200
Picture；Remote operating master controller receives the image information of the shooting from end robot 200, controls wearable video display apparatus
The picture of 104 displaying scenes shooting, wearable video display apparatus 104 can be specially video glass.
Main side radio transmission apparatus is realized by wireless transport module and is wirelessly transferred, and the nothing for being used for transmission data can be divided into
Line data transmission equipment 106 and the wireless image transmission equipment 107 for being used for transmission image/video data realize the wearable remote operating control in end main side
Device 100 processed and from end robot 200 between information transmission, specific for send control instruction to from end robot 200,
It receives the sensing data sent back from end robot 200 and receives the image data etc. sent back from end robot 200.Institute
Stating wireless transport module may include conducting electricity platform and for the data radio station of transfer control instruction for transmitting the figure of image data,
Such as 5.8GHz wireless image transmission radio station and 433MHz wireless digital broadcasting station.Remote control distance is shorter also to can be directly used a WI F I
Communication module realizes image transmitting and control instruction transmission simultaneously.
As a further improvement can also include wireless audio prompt equipment 105, wireless audio prompt equipment 105 with it is distant
It operates master controller 101 to connect, for prompting control staff's control instruction to be executed.
It can be specially ground armed reconnaissance robot from end robot 200, for executing reconnaissance mission, including moving machine
Device people car body and vehicle-mounted multi-degree-of-freemechanical mechanical arm.
Further, the mobile robot car body may include mobile mechanism 202, car body driving motor group 213, car body
Drive control device 211, vehicle-mounted monitoring camera 207 and laser radar 208, from end radio transmission apparatus and robot master controller
201, radio transmission apparatus include be respectively used to storage transmission of data and image from end wireless data transmission equipment 209 and from end wireless image transmission
Equipment 210.Can receive and moved under the control of the wearable remote operating control device 100 in main side, for replace control staff into
Enter danger zone and executes combat duty.The car body drive control device 211, car body driving motor group 213 and mobile mechanism 202 according to
Secondary connection, the control instruction that the car body drive control device 211 is used to be sent according to main side control car body driving motor group 213,
Car body driving motor group 213 connects mobile mechanism 202 and realizes that, from end robot 200, the car body driving motor group 213 is at least wrapped
Left motor and right motor are included, the left motor and right motor can rotate in same direction, and can control robot to realize and advance
And retrogressing, the left motor and right motor incorgruous can rotate, and robot can control to realize or turn right.
Laser radar 208 is used to measure described from the obstacle information around the ground armed reconnaissance robot of end, laser
Radar 208 is connect with robot master controller 201, and robot master controller 201 receives the obstacle information of measurement, and by obstacle
Object information is transmitted to the remote operating master controller 101 of main side, can the wearable video by obstacle information in main side show and set
It is shown on standby 104.Can be identical from the structure of end radio transmission apparatus and main side radio transmission apparatus, identical nothing can be selected
Line transmission module.The vehicle-mounted monitoring camera 207 is used to shoot battlefield surroundings information, can be arranged directly on car body,
The vehicle-mounted monitoring camera 207 is connect with robot master controller 201, for the ambient image of acquisition to be transmitted to main side
Remote operating master controller.
Vehicle-mounted multi-degree-of-freemechanical mechanical arm includes link mechanism 203, mechanical arm driving motor group 214, mechanical arm drive control
Device 212, laser range sensor 205, trick monitoring camera 206 and weapon device 204, the end of link mechanism 203 are fixed
Be arranged trick monitoring camera 206, link mechanism 203, mechanical arm driving motor group 214 and mechanical arm drive control device 212 according to
Secondary connection, link mechanism 203 are at least made of two sections of connecting rods, and mechanical arm drive control device 212 receives the control of main side transmission
Information controls mechanical arm driving motor group 214 according to the control information and works, so that drive link mechanism 203 acts, is moved to behaviour
Control person wants mobile position, and the trick monitoring camera 207 by the way that 203 end of link mechanism is arranged in shoots interesting target
Image information.
Laser range sensor 205 and weapon device 204 are respectively with mechanical arm drive control device 212 for scouting and hitting
Task can be set in the end of link mechanism 203；The laser range sensor 205 is used to measure impact target
Range information.
The setting of vehicle-mounted monitoring camera 207 and trick monitoring camera 207 is for acquiring different images, vehicle-mounted monitoring
Camera 207 acquires environmental data, is acquired by the ambient image of the mobile realization passage path from end robot 200, trick
Monitoring camera 207 is used to carry out the Image Acquisition of key area or area-of-interest, two camera shootings according to the control of operator
The setting of head realizes acquiring without dead angle for robot working site image.
Robot master controller 201 can control acquisition laser radar 208, laser range sensor 205, vehicle-mounted monitoring and take the photograph
As first 207 and trick monitoring camera 207 data and by being wirelessly sent to main side remote operating device, can also be by described
From end, radio transmission apparatus receives the control instruction that remote operating device in main side is sent, and passes through the car body according to control instruction
Drive control device 211 or the mechanical arm drive control device 212 control the corresponding car body driving motor group 213 or described
Mechanical arm driving motor group 214.
Embodiment 2
The present embodiment provides a kind of based on a kind of robot remote control system based on wearable device described in embodiment 1
Control method, respectively acquire manipulator left hand and the right hand movement, pass through the action control mobile robot vehicle of a hand
The movement of body passes through the movement of the vehicle-mounted multi-degree-of-freemechanical mechanical arm of the action control mobile robot of another hand.
Remote operating master controller can acquire the image of wearable visual apparatus shooting and analyze whether have behaviour in the picture
The right-hand man of control person and its hand-type type and position coordinates, can be according to hand-type type and position in the right-hand man for detecting control staff
It sets coordinate and corresponding control instruction is sent to from end robot 200, to control from end robot 200 by radio transmission apparatus
Movement and the movement of vehicle-mounted multi-degree-of-freemechanical mechanical arm can also pass through the title of control instruction before issuing control instruction wireless
Audio prompt equipment feeds back to control staff, in addition to this it is possible to handle the slave terminal device received by radio transmission apparatus
The sensing data and monitoring image that people 200 sends back, and be shown on wearable video display apparatus 104.
Specifically, may include steps of:
Step 1: acquisition manipulator's wearable device can image in coverage；
For wearable visual apparatus the specific can be that wearable camera, the head that manipulator is arranged in can acquire behaviour
Image around control person needs manipulator being taken the photograph corresponding hand according to the control to be carried out when being provided with a camera
As doing corresponding movement in range.For freely operating convenient for manipulator, camera, left and right camera can be all set in left and right
Left-side images and image right are acquired respectively, two images lap can be wiped out and are spliced into using image split-joint method
One secondary wide field-of-view image, the image as acquired.
Step 2: judging whether there is hand region in the image of acquisition, if not provided, executing step 1；Otherwise, to acquisition
Image is pre-processed, and hand cut-parts are obtained；
Judge whether to have in the image of acquisition the method for hand can be using gestures detection algorithm, gestures detection algorithm is specific
Can use the gestures detection algorithm based on the colour of skin.
The image of acquisition is pre-processed, hand cut-parts are obtained method particularly includes: if detecting the presence of hand,
Then the background in the region comprising hand is rejected using Hand Gesture Segmentation algorithm, will include further hand using dimension normalization
Image normalization be identical size hand cut-parts.
Step 3: it is left hand cut-parts or right hand cut-parts using the hand cut-parts that the judgement of right-hand man's distinguished number obtains, thus
It determines and does that act is left hand or the right hand；
Using the judgement of right-hand man's distinguished number is that the methods of left hand cut-parts or right hand cut-parts can be with specifically:
Right-hand man's distinguished number judgement be two classification problems, first prepare comprising left hand image training sample set (such as its
0) and the training sample set comprising right hand image (such as its label be 1) label is that, selecting a kind of classifier (can be such as convolution mind
Through network) two image sets with label are learnt, error back propagation algorithm can be used in learning method, after the completion of study,
An available right-hand man two classification classifier can carry out right-hand man's type to the hand cut-parts of acquisition using this classifier and sentence
Not.
Step 4: by the movement of the wherein action control mobile robot car body of a hand, passing through the movement of another hand
The movement of the vehicle-mounted multi-degree-of-freemechanical mechanical arm of mobile robot is controlled, then, executes step 1.
It is particularly that the movement controlled from which part of end robot 200 can using the motion track of gesture and finger
To be to set, the present embodiment sets the movement by gesture control mobile robot car body, sets the moving rail of finger
Mark controls the movement of vehicle-mounted multi-degree-of-freemechanical mechanical arm.
Pass through the movement of the wherein action control mobile robot car body of a hand, specific steps in step 4 are as follows:
Step 41 is set from the corresponding relationship for holding robot 200 motion control instruction and hand-type information；Hand-type information is behaviour
The gesture information that control person shows, may include fist, scissors hand, OK gesture etc., motion control instruction include advance, retreat,
Turn left, turn right, turn around.It can be according to specifically needing to be arranged specific corresponding to relationship.Generate corresponding mapping table.
Step 42, when the hand cut-parts of identification be set as control mobile robot car body movement a hand, use
Hand-type identification, which is calculated, identifies hand cut-parts, obtains hand-type information；
Positions are acted from the different of end robot 200 using the different hand control of manipulator when being controlled.Pass through a left side
The right hand control respectively can make from end robot 200 execute command action accuracy it is higher, first determine whether left hand or
The right hand is distinguished control mobile robot car body or vehicle-mounted multi-degree-of-freemechanical mechanical arm by the differentiation of hand, passes through two hands
The identification of gesture and the identification of motion profile distinguish control mobile robot car body or vehicle-mounted multi-degree-of-freemechanical mechanical arm again,
Reduce malfunction rate.Manipulator two makees to be different types of movement manually simultaneously, avoids the confusion for causing manipulator, controls
Logic is simple, is easy memory, facilitates operation.
The movement of wherein any one hand control mobile robot car body can be set, the present embodiment can choose as a left side
Hand.When the movement for setting left hand control mobile robot car body, then the movement of vehicle-mounted multi-degree-of-freemechanical mechanical arm is just by right hand control
System.It is particularly to control from the movement of which part of end robot 200 can be using the motion track of gesture and finger
Setting, the present embodiment, which is set, passes through gesture control.
Step 43 is obtained according to from end 200 motion control instruction of robot with the corresponding relationship of hand-type information and identification
Hand-type information generate from end 200 motion control instruction of robot, by motion control instruction be sent to from end robot 200, from
Robot 200 is held to execute corresponding movement according to control instruction.
Step 43 further includes following steps: the movement title of corresponding motion control instruction is set, when generating from end robot
After 200 motion control instructions, the movement title of corresponding motion control instruction is sent to wireless audio prompt equipment, it is described wireless
Audio prompt equipment is broadcasted from the end movement to be executed of robot 200.Manipulator can determine to be executed according to casting
It whether correct acts.
Pass through the movement of the vehicle-mounted multi-degree-of-freemechanical mechanical arm of the action control mobile robot of another hand, tool in step 4
Body step are as follows:
Step 4-1, when the hand cut-parts of identification are the vehicle-mounted multi-degree-of-freemechanical mechanical arm for being set as controlling mobile robot
One hand of movement, analyzes the motion profile of any finger tip in the picture using finger tip location algorithm；
Step 4-2, position tracking instruction is generated according to motion profile, and position tracking instruction is sent to from end robot
200；
Step 4-3, the position coordinates specifically acted, link mechanism are generated from end robot 200 according to position tracking instruction
The tracking that position coordinates realize manipulator's fingertip motions track is successively passed through in 203 ends.
The motion profile of any finger tip in the picture is analyzed using finger tip location algorithm, it can be using based on contour curvature
Finger tip location algorithm and the finger tip location algorithm analyzed based on convex closure.
Position coordinates can be to be multiple, when the position coordinates density of setting gets over big-movement track and the finger movement of manipulator
Track registration is higher.The setting of position coordinates can be using the pedestal of link mechanism 203 as origin.
Embodiment 3
The present embodiment proposes another based on a kind of robot remote control based on wearable device described in embodiment 1
The control method of system is with the method difference of embodiment 2, controls without distinguishing right-hand man, the present embodiment is by setting
Set the movement and the control of vehicle-mounted multi-degree-of-freemechanical mechanical arm of different gesture control mobile robot car bodies.It may be implemented manipulator's
The execution of movement outside the image pickup scope of wearable visual apparatus.
Method in embodiment 2 when the motion track by identification finger carries out the control of vehicle-mounted multi-degree-of-freemechanical mechanical arm,
The motion track of manipulator's hand needs completely presenting in image pickup scope, and the movement range of manipulator is needed in wearable vision
In the image pickup scope of equipment, the movement range of vehicle-mounted multi-degree-of-freemechanical mechanical arm is just restricted.The present embodiment may be implemented to compare
The movement of vehicle-mounted multi-degree-of-freemechanical mechanical arm in 2 wider range of embodiment.
Car body control for mobile robot, as long as there is advance hand-type in the gesture of operator, then mobile robot
Advance always, until operator's gesture becomes stopping hand-type, then mobile robot halts.That is mobile robot vehicle
Body makes its stopping during advance, retrogressing, left-hand rotation and right-hand rotation, using hand-type is stopped.The movement of robot car body is to belong to guarantor
Movement is held, until there is stop signal, otherwise persistent movement.
Control for mechanical arm tail end, can be not provided with stop hand-type, the pitch angle of mechanical arm tail end, move up away from
From, move down with a distance from, move to left distance and move to right distance all and be and realized by following pitching hand-type or end to draw hand-type, once bow
Facing upward hand-type or end traction hand-type becomes being connected hand-type, gesture beyond the then mechanical arm tail end just stopping naturally such as camera range
, not add a stopping hand-type specially to control mechanical arm tail end.
In the technical solution disclosed in one or more embodiments, as shown in figure 5, it is vehicle-mounted more to provide a kind of robot
The mobile control method of degree-of-freedom manipulator wide scope, includes the following steps:
Step 1: setting linking hand-type and corresponding gesture motion set different hand-types and correspond to from end robot 200 not
Same movement, linking hand-type can be set as vehicle-mounted multi-degree-of-freemechanical mechanical arm end and wait next instruction in current location；
Step 2: acquisition manipulator's wearable device can image in coverage；
Step 3: judging whether there is hand region in the image of acquisition, if not provided, executing step 2；Otherwise, to acquisition
Image pre-processed, obtain hand cut-parts, and perform the next step；
Step 4: hand-type identification is carried out to pretreated hand cut-parts using hand-type recognizer, obtains hand-type information；
Step 5: judge whether the hand-type information obtained is linking hand-type, if so, vehicle-mounted multi-degree-of-freemechanical mechanical arm end
It continuously performs the linking previous hand-type of hand-type and is connected the movement of the corresponding control instruction of the latter hand-type of hand-type, and execute step
Two；Otherwise, perform the next step.
Step 6: corresponding movement is executed according to corresponding hand-type, and executes step 2.
Further include following steps before step 1:
1, remote operating controller and from end robot 200 initialize.
2, establish remote operating controller and from end robot 200 between wireless communication.
3, from the reconnaissance image of end robot 200 acquisition robot camera, then channel is sent to by wireless communication
Remote operating controller, remote operating controller are received after reconnaissance image by radio transmission apparatus by reconnaissance image real-time display
On the video glass that control staff wears.
The corresponding movement different from end robot 200 of different hand-types is set in the step 1, it is corresponding from end robot
200 corresponding actions set different hand-types and are controlled, and control staff can according to need sets itself.From end robot 200
Movement include that the movement of vehicle-mounted multi-degree-of-freemechanical mechanical arm end and mobile robot car body are mobile, and the mobile robot car body moves
Dynamic movement includes stopping, advancing, retreat, turn left, turn right etc., the correspondence hand-type of the present embodiment setting and its corresponding gesture
And the corresponding relationship of control instruction can be quiet from end robot 200 with as shown in fig. 6, empty-handed type H1 correspondence does not send control instruction
Only in situ；Advance hand-type H2 corresponds to advancement commands, and mobile robot car body starting car body drive control device 211 is moved forwards
It is dynamic；Similarly, left-hand rotation hand-type H3, right-hand rotation hand-type H4, retrogressing hand-type H5, stopping hand-type H6 respectively correspond a mobile robot car body left side
Turn, turn right, retreat and stop all movements.It can establish corresponding corresponding table, manipulator can change according to the habit of oneself
The corresponding table of gesture and control instruction.
The method of the step 3 and step 4 can be identical as the method recorded in embodiment 2.
In step 5, vehicle-mounted multi-degree-of-freemechanical mechanical arm end continuously performs the linking previous hand-type of hand-type and linking hand-type is latter
The movement of the corresponding control instruction of hand-type specifically:
After vehicle-mounted multi-degree-of-freemechanical mechanical arm end executes the corresponding movement of previous hand-type, current location is stopped at；
Step 2-step 4 is executed, detects next hand-type of linking hand-type, vehicle-mounted multi-degree-of-freemechanical mechanical arm end is from working as
Front position movement executes the corresponding movement of next hand-type of linking hand-type.
The present embodiment is illustrated using setting empty-handed type H1 as linking gesture.End traction hand-type H8 can be used
Continuous increment type deflection control or upper and lower displacement control are carried out to vehicle-mounted multi-degree-of-freemechanical mechanical arm terminal position.It defines first
End draw hand-type H8 combine the vehicle-mounted multi-degree-of-freemechanical mechanical arm end of mobile correspondence under this hand-type it is upward, downward, to the left,
It moves right.
When the distance that the control of manipulator's single needs to move up is more than image pickup scope, to realize the upward of continuous increment type
Mobile, the previous hand-type and latter hand-type that can set end traction hand-type linking hand-type for end draw hand-type H8 and to moving up
Dynamic, as shown in figure 9, control staff first moves up U1 using end traction hand-type H8, U1 is greater than preset threshold, and then control staff puts
Empty-handed type H1 out, and empty-handed type H1 is re-moved into manipulator's supra-aural camera within sweep of the eye, then show again
End traction hand-type H8 simultaneously moves the distance that U2, U1 and U2 are movement again up, and mobile distance is greater than preset threshold and grasps
The sliding of control person exceeds image pickup scope, then shifting of the end traction hand-type H8 of control staff in manipulator's supra-aural camera view
Dynamic total distance is U=U1+U2, then it is K2* (U1+U2), remote operating main control that multi-degree-of-freemechanical mechanical arm end, which moves up distance,
Device successively sent to robot master controller 201 multi-degree-of-freemechanical mechanical arm end move up distance be K2*U1, stop at it is current
Position, the control instruction that K2*U1 distance is moved up from current location.Wherein K2 is displacement coefficient, for adjusting end traction
Hand-type H8 moves up and down the proportionate relationship that distance moves up and down distance with multi-degree-of-freemechanical mechanical arm terminal position.
When the distance that the control of manipulator's single needs to move down is more than image pickup scope, to realize the downward of continuous increment type
Mobile, the previous hand-type and latter hand-type that can set end traction hand-type linking hand-type for end draw hand-type H8 and to moving down
Dynamic, as shown in Figure 10, only moving direction and Fig. 9 are on the contrary, details are not described herein again.
When the distance that the control of manipulator's single needs to be moved to the left is more than image pickup scope, to realize continuous increment type to the left
Deflection, the previous hand-type and latter hand-type that can set end traction hand-type linking hand-type for end draw hand-type H8 and to moving to left
Dynamic, as shown in fig. 7, control staff is first greater than preset threshold in mobile L1, L1 using end traction hand-type H8, then control staff is put
Empty-handed type H1 out, and empty-handed type L1 is re-moved into manipulator's supra-aural camera within sweep of the eye, then show again
End traction hand-type H8 is simultaneously moved to the left the distance that L2, L1 and L2 are movement again, then the end traction hand-type H8 of control staff exists
Mobile total distance in manipulator's supra-aural camera view is L=L1+L2, then multi-degree-of-freemechanical mechanical arm end is moved to the left angle
Degree isRemote operating master controller successively sends multi-degree-of-freemechanical mechanical arm end to robot master controller 201
Deflection angle is to the left at endStop at current location, from current location deflection angle to the leftDistance
Control instruction.Wherein K1 is deflection factor, moves left and right distance and vehicle-mounted multiple degrees of freedom for adjusting end traction hand-type H8
The proportionate relationship of mechanical arm tail end deflection angle.
When the distance that the control of manipulator's single needs to move right is more than image pickup scope, to realize continuous increment type to the right
Deflection, the previous hand-type and latter hand-type that can set end traction hand-type linking hand-type draw hand-type H8 as end and move right
It is dynamic, as shown in figure 8, only moving direction and Fig. 7 are on the contrary, details are not described herein again.
A kind of mobile control method of the vehicle-mounted multi-degree-of-freemechanical mechanical arm wide scope of robot that the present embodiment proposes, will manipulate
Member's supra-aural images region within the vision and becomes a virtual touch screen area, gets rid of control staff to physical controller
Dependence；Compared to discrete control of the gesture-type realization to robot motion is used only, the present invention be may be implemented to scouting system
The increment type of system terminal position continuously accurately controls, and control more meets the operating habit of the mankind.
In the step 6, execute corresponding movement according to corresponding hand-type, hand-type be can according to personal habits or
What the hand-type of agreement was set, and the corresponding relationship of hand-type and respective action is set, the movement from end robot car body is main
There are advance, retrogressing, left-hand rotation, right-hand rotation and stopping, the present embodiment can be specific as follows:
(1) if the hand-type of control staff is empty-handed type H1, remote operating master controller does not issue control instruction to from terminal
Device people 200 then proceedes to execute step 2；
(2) if the hand-type of control staff is to stop hand-type H6, remote operating controller is stopped by radio transmission apparatus sending
Only control instruction makes movable reconnaissance robot stop motion, then executes step 2；
(3) if the hand-type of control staff is advance hand-type H2, retreats hand-type H3, left-hand rotation hand-type H4 or right-hand rotation hand-type H5,
Equipment issues advancement commands, retreats instruction, turn left instruction and instruction of turning right remote operating controller by wireless communication, until manipulation
Member, which shows, stops hand-type H6, executes step 2；
Mainly have from the movement of end robot multi-degree-of-freemechanical mechanical arm and deflects certain angle and move up and down, this reality
Applying example can be specific as follows:
(4) as is illustrated by figs. 11 and 12, if the hand-type of control staff is control vehicle-mounted multi-degree-of-freemechanical mechanical arm end pitching
The pitching hand-type H7 at angle, then calculate pitching hand-type H7 tilt angle α or nutation angle beta planar first, tilt angle α or
Nutation angle beta is angle with respect to the horizontal plane.Then vehicle-mounted multiple degrees of freedom machine is calculated according to the pitch angle of pitching hand-type H7
The pitch angle of tool arm end, equipment sending can make vehicle-mounted multi-degree-of-freemechanical mechanical arm end to last remote operating controller by wireless communication
The control instruction that is consistent of pitch angle of end pitch angle and pitching hand-type H7, until control staff shows other hand-types, then
Execute step 2；This may be implemented by the rotation angle of measurement certain gestures type such as pitching hand-type H7 in image to mostly certainly
By the accurate control in the scouting direction (with respect to the horizontal plane) of degree mechanical arm tail end, the scouting direction of camera is equal to pitching hand-type
Pitch angle.
(5) if the hand-type of control staff is that hand-type H8 is drawn in end, as shown in Fig. 7, Fig. 8, Fig. 9 and Figure 10, then into one
The shift length and direction of displacement of step detection hand-type, when manipulator's shift length is less than preset threshold, when hand is drawn in end
Type H8 is when moving left and right, then equipment sending can make multi-degree-of-freemechanical mechanical arm end to the left to remote operating controller by wireless communication
Or deflection angle is respectively to the rightOrControl instruction, wherein for K1 deflection factor, for adjusting end
End traction hand-type H8 moves left and right the proportionate relationship of distance with vehicle-mounted multi-degree-of-freemechanical mechanical arm end deflection angle, and L and R are
End traction hand-type H8 is moved to the left distance and the distance that moves right, and r is vehicle-mounted multi-degree-of-freemechanical mechanical arm end around its pedestal
Radius of turn, when end, traction hand-type H8 stops mobile or removes camera view, and remote operating controller is by wireless communication
Equipment issues the control instruction that multi-degree-of-freemechanical mechanical arm end can be made to stop deflection, then proceedes to execute step 2；Work as end
When end traction hand-type H8 becomes being connected hand-type, step 5 is executed.
(6) when end traction hand-type H8 is to move up and down, then equipment issues energy to remote operating controller by wireless communication
Multi-degree-of-freemechanical mechanical arm terminal position is set to move up or down the control instruction that distance is respectively K2*U or K2*D, wherein K2 is
Displacement coefficient, for adjust end traction hand-type H8 move up and down distance and multi-degree-of-freemechanical mechanical arm terminal position move up and down away from
From proportionate relationship, U and D are respectively that end traction hand-type H8 moves up distance and the distance that moves right, when hand is drawn in end
Type H8 stops mobile, removal camera view, and equipment sending can make vehicle-mounted multiple degrees of freedom to remote operating controller by wireless communication
Reconnaissance system stops the control instruction moving up and down, executes step 2；When end, traction hand-type H8 becomes being connected hand-type, execute
Step 5.
The hand-type of the present embodiment is only example hand-type, and specific hand-type can according to need sets itself.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.
Claims (10)
1. a kind of robot remote control system based on wearable device, it is characterized in that: including the main side by wireless connection
Wearable remote operating control device and from end robot, the wearable remote operating control device in main side is worn on manipulator's body
On, for sending control instruction and receiving the data acquired from end robot；
The wearable remote operating control device in main side includes wearable visual apparatus, wearable video display apparatus, wireless biography
Transfer device and remote operating master controller, the wearable visual apparatus, wearable video display apparatus and radio transmission apparatus point
It is not connect with remote operating master controller；Wearable visual apparatus is worn on manipulator's head position, for acquiring the dynamic of manipulator
Make, remote operating master controller generates control instruction according to corresponding movement and is sent to from end robot.
2. a kind of robot remote control system based on wearable device as described in claim 1, it is characterized in that: wearable
Visual apparatus includes left wearable visual apparatus and right wearable visual apparatus, is worn at left and right sides of control staff head respectively and is used
In the action message of the hand of acquisition manipulator.
3. a kind of robot remote control system based on wearable device as described in claim 1, it is characterized in that: main side can
Wearing remote operating control device further includes wireless audio prompt equipment, the wireless audio prompt equipment and remote operating master controller
Connection, for prompting control staff's control instruction to be executed.
4. a kind of robot remote control system based on wearable device as described in claim 1, it is characterized in that: from terminal
Device people includes mobile robot car body and vehicle-mounted multi-degree-of-freemechanical mechanical arm, and mobile robot car body receives the wearable remote operating in main side
The control of control device carries out the movement on position, and vehicle-mounted multi-degree-of-freemechanical mechanical arm receives the wearable remote operating control device in main side
Control execute corresponding movement；
Mobile robot car body include mobile mechanism, car body driving motor group, car body drive control device, from end radio transmission apparatus
With robot master controller；The car body drive control device, car body driving motor group and mobile mechanism are sequentially connected；
Vehicle-mounted multi-degree-of-freemechanical mechanical arm includes link mechanism, mechanical arm driving motor group, mechanical arm drive control device and trick prison
Camera is controlled, trick monitoring camera, link mechanism, mechanical arm driving motor group and machinery is fixedly installed in the end of link mechanism
Arm drive control device is sequentially connected；
The robot master controller respectively with from end radio transmission apparatus, car body drive control device, mechanical arm drive control device
It is separately connected with trick monitoring camera.
5. a kind of robot remote control system based on wearable device as claimed in claim 4, it is characterized in that: moving machine
Also set up vehicle-mounted monitoring camera and laser radar on device people's car body, vehicle-mounted monitoring camera and laser radar respectively with robot
Master controller connection；
Or
Laser range sensor and weapon device, the laser range sensor and force are also set up in vehicle-mounted multi-degree-of-freemechanical mechanical arm
Device device is connect with robot master controller respectively.
6. based on a kind of any one of claim 1-5 controlling party of the robot remote control system based on wearable device
Method, characterized in that the movement for acquiring the left hand and the right hand of manipulator respectively passes through the action control mobile robot vehicle of a hand
The movement of body, by the movement of the vehicle-mounted multi-degree-of-freemechanical mechanical arm of the action control mobile robot of another hand, including it is as follows
Step:
Step 1: acquisition manipulator's wearable device can image in coverage；
Step 2: judging whether there is hand region in the image of acquisition, if not provided, executing step 1；Otherwise, to the image of acquisition
It is pre-processed, obtains hand cut-parts；
Step 3: it is left hand cut-parts or right hand cut-parts using the hand cut-parts that the judgement of right-hand man's distinguished number obtains, so that it is determined that
Doing act is left hand or the right hand；
Step 4: by the movement of the wherein action control mobile robot car body of a hand, passing through the action control of another hand
Then the movement of the vehicle-mounted multi-degree-of-freemechanical mechanical arm of mobile robot executes step 1.
7. control method as claimed in claim 6, it is characterized in that: the action control in step 4 by a wherein hand is mobile
The movement of robot car body, specific steps are as follows:
Set the corresponding relationship from end robot motion control instruction and hand-type information；
When the hand cut-parts of identification are a hand for being set as controlling the movement of mobile robot car body, using hand-type recognizer
Hand cut-parts are identified, hand-type information is obtained；
It is generated according to from end robot motion control instruction and the hand-type information that the corresponding relationship of hand-type information and identification obtain
From end robot motion control instruction, motion control instruction is sent to from end robot, from end robot according to control instruction
Execute corresponding movement.
8. control method as claimed in claim 6, it is characterized in that: passing through the action control moving machine of another hand in step 4
The movement of the vehicle-mounted multi-degree-of-freemechanical mechanical arm of device people, specific steps are as follows:
When the hand cut-parts of identification be set as control mobile robot vehicle-mounted multi-degree-of-freemechanical mechanical arm movement a hand,
The motion profile of any finger tip in the picture is analyzed using finger tip location algorithm；
Position tracking instruction is generated according to motion profile, and position tracking instruction is sent to from end robot；
The position coordinates specifically acted are generated from end robot according to position tracking instruction, link mechanism end is successively by position
The tracking of coordinate realization manipulator's fingertip motions track.
9. based on a kind of any one of claim 1-5 controlling party of the robot remote control system based on wearable device
Method, characterized in that the mobile control method of the vehicle-mounted multi-degree-of-freemechanical mechanical arm wide scope of robot includes the following steps:
Step 1: it is corresponding from different dynamic of end robot to set different hand-types for setting linking hand-type and corresponding gesture motion
Make, linking hand-type can be set as vehicle-mounted multi-degree-of-freemechanical mechanical arm end and wait next instruction in current location；
Step 2: acquisition manipulator's wearable device can image in coverage；
Step 3: judging whether there is hand region in the image of acquisition, if not provided, executing step 2；Otherwise, to the figure of acquisition
As being pre-processed, hand cut-parts are obtained, and perform the next step；
Step 4: hand-type identification is carried out to pretreated hand cut-parts using hand-type recognizer, obtains hand-type information；
Step 5: judge whether the hand-type information obtained is linking hand-type, if so, vehicle-mounted multi-degree-of-freemechanical mechanical arm end is continuous
It executes the linking previous hand-type of hand-type and is connected the movement of the corresponding control instruction of the latter hand-type of hand-type, and execute step 2；It is no
Then, it performs the next step；
Step 6: corresponding movement is executed according to corresponding hand-type, and executes step 2.
10. control method as claimed in claim 9, it is characterized in that: vehicle-mounted multi-degree-of-freemechanical mechanical arm end is continuous in step 5
It executes the linking previous hand-type of hand-type and is connected the movement of the corresponding control instruction of the latter hand-type of hand-type, specifically:
After vehicle-mounted multi-degree-of-freemechanical mechanical arm end executes the corresponding movement of previous hand-type, current location is stopped at；
Step 2-step 4 is executed, next hand-type of the linking hand-type detected, vehicle-mounted multi-degree-of-freemechanical mechanical arm end is from current
Position movement executes the corresponding movement of next hand-type of linking hand-type.
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| CN201910363168.1A CN110039545B (en) | 2019-04-30 | 2019-04-30 | Robot remote control system and control method based on wearable equipment |
| KR1020207030337A KR102379245B1 (en) | 2019-04-30 | 2020-04-29 | Wearable device-based mobile robot control system and control method |
| PCT/CN2020/087846 WO2020221311A1 (en) | 2019-04-30 | 2020-04-29 | Wearable device-based mobile robot control system and control method |
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