CN1785608A - Control platform of multifinger mechanical skillful closed ring real time action - Google Patents
Control platform of multifinger mechanical skillful closed ring real time action Download PDFInfo
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Abstract
A closed-loop real-time action control platform for multi-finger manipulator is composed of a multi-finger manipulator, 3D action monitoring system, a system for tracking and analyzing the gesture of operator (LAP system), and virtual force sensation generating system. Said operator uses a pair of stereoscopic glasses or a helmet display to observe the action of multi-finger manipulator and express it by gesture.
Description
Technical field
The present invention relates to a kind of control system of manipulator, particularly a kind of multifinger mechanical Dextrous Hand closed loop is controlled platform in real time.
Background technology
Along with science and technology development, the range of application of robot constantly enlarges.The prevailing task of fundamental sum is that object is operated in the robotics, and manipulator is to finish the most frequently used device of this work and most important instrument.At present, the manipulator of seeing at most is simple clamping device.But because it is simple in structure, clamping device can only grasp the object of shape comparison rule usually, finishes only such as " picking up-put down " (pick-and-place) this class shirtsleeve operation.The appearance of many fingers, multi-joint and multivariant mechanical Dextrous Hand, improved the operational capacity of robot, can finish with mechanical Dextrous Hand and grasp unlike material, surface configuration complex objects, use and variously carry out complicated dexterous manipulation such as part replacement such as instruments such as screwdriver, spanners, even can be used as doing evil through another person of disabled person.Therefore, the research of relevant multi-finger clever hand is receiving increasing concern.Owing to have a plurality of joints and a plurality of free degree, the action control more complicated of Dextrous Hand.Setting up a perfect action control platform for Dextrous Hand, is the key that robot finishes various job tasks adaptively.
Refer to more, the attitude of multiarticulate mechanical Dextrous Hand is the key of operation object, therefore, is the angle of bend of each finger-joint of manipulator when determining object operated to one of key link of the action control of multifinger mechanical Dextrous Hand.The angle-data of articulations digitorum manus can obtain with the method for experiment, cooperates predetermined feedback information then, carries out off-line programing, and the program that mechanical Dextrous Hand puts rules into practice is finished the operation to specified object.This control method is identical with the control mode of above-mentioned common clamping device, can not bring into play the advantage of multifinger mechanical hand dexterous manipulation.When surperficial complex shape and the object that may change are operated, should adopt operator's control mode of decision-making in real time, by the control personnel according to the observation to information such as body form, orientation, make the operating attitude decision-making in real time.At present in multifinger mechanical hand remote control system, the device relatively more commonly used of control Robot actions attitude is a data glove, this is a kind of touch sensor that is worn on the control personnel hand, be to be used for virtual operating environment that computer generates at first, its function is that people's the gesture attitude information form with simulation figure is presented on the computer screen, can operate the object in the virtual world, specific gesture attitude can also be translated into certain action command (sign language), be used to command the action of emulated robot, with by experiment, obtain the action control parameter of corresponding physics robot.Along with development of technology, the detected gesture information of data glove begins to be used for commanding the action of the robot (or manipulator) of real world.The gloves that are used to detect action people gesture attitude information are equipped with sensor in the position of each joint (articulations digitorum manus, wrist joint etc.) on hand in correspondence, detect the degree of crook (gesture attitude) of finger, through suitable conversion, obtain the angle of each finger-joint of multi-finger clever hand.Another kind of data glove then is used for allowing the people experience some virtual sensory information that is produced by computer (as pressure, temperature, sliding feel etc.), and this data glove is equipped with the sensing element that can show various perceptual signals at staff perception position commonly used.The most of two kinds of gloves carry out between people and computer alternately, and purpose is to obtain the required parameter of control robot from simulated environment, or experiences the operating effect of expection, seldom is used in the direct control aspect to robot in the real world.
In addition, owing to do not possess the data glove of above-mentioned two kinds of functions at present simultaneously.Therefore, when constituting the closed-loop control system of manipulator, also have some difficulties, on the same hand of people, can not both detect movement posture in one's hands, obtain the sensory information of feedback again with this device.Usually the mode that adopts is: wear attitude parameter and detect data glove on main hand (the control personnel practise strong hand), the action of control manipulator, adopt other form to provide sensory information (feedback information), such as can be on monitor with the form of the color of the form that shows corresponding data or the different depths, the data glove that perhaps will receive sensory information is worn on operating personnel's the assistant.Though but these modes have realized closed loop feedback, not too meet the way of feeling of people's custom, therefore influenced the control effect to a certain extent.
Summary of the invention
The object of the present invention is to provide a kind of control platform of multifinger mechanical skillful closed ring real time action, can allow the control personnel, the action of multifinger mechanical Dextrous Hand is controlled with people's natural posture and way of feeling.
For achieving the above object, design of the present invention is as follows:
As mentioned above, present data glove can not have the dual-use function that detects the gesture attitude and receive sensory signal simultaneously, also can not wear two kinds of gloves on the same hand of people, therefore the method that can replace wherein a certain gloves function must be arranged.Analyze the function of two kinds of gloves,, should keep the gloves that receive sensory signal, and take another kind of mode to finish the detection of gesture attitude in order to make control near natural way.The present invention selects to carry out the measurement of people's gesture attitude parameter with the mode that vision sensor (industrial CCD video camera) and image are handled.
Usually be equipped with in the system of vision sensor, visual observation to as if be operated object, but observe in this platform to as if the operating attitude of control personnel's hand, this is a new application in the computer vision research field, be called " seeing the people " (Looking at people, this paper abbreviates it as LAP).In the present invention, this computational analysis of gesture attitude parameter and the conversion of the corresponding multifinger mechanical Dextrous Hand action parameter function that replaced the data glove of common detection attitude based on computer vision, analyze, calculate, the mechanical Dextrous Hand action parameter that the conversion back obtains passes to by the mechanical Dextrous Hand control computer of remote control by communication network, finish the action control of manipulator, on the controlled mechanical Dextrous Hand finger tip three-dimensional force sensor is housed, can feel each finger and the contact condition that is operated object, this pressure information returns virtual signal in the control room by the communication network transmission and handles and to use computer, this computer is converted to the predetermined virtual sensation (can be the pressure of air bag or the stimulation of certain form etc.) of power receiving system on the data glove with the force signal of data mode performance, makes the people can produce the sensation (really not possessing object in fact in the hand) of the operation object of a kind of " truly ".In the remote control system, the video information of machinery Dextrous Hand working site, by being installed in on-the-spot video camera to sending back the control room, on the display screen of three-dimensional helmet display (HMD---Head MountedDisplay) that the control personnel wear or anaglyph spectacles, show.This information is normally being passed the control room back with single camera in the remote control system at present, monitoring that the form with two dimensional surface information shows on the screen, this display mode if the operator does not pass through certain training, can influence control effect during complete operation owing to lacked depth information.Adopt the stereoscopic display mode of sealing to show presence states among the present invention, can increase control personnel's feeling of immersion, make it that a kind of sensation on the spot in person be arranged, cooperate above-mentioned detection and way of feeling, obtain nature, good control effect.
According to the foregoing invention design, the present invention adopts following technical proposals:
A kind of control platform of multifinger mechanical skillful closed ring real time action, comprise the multifinger mechanical Dextrous Hand and the controller thereof that are positioned at distant operation element scene, be positioned at anaglyph spectacles or helmet monitor and force feedback data gloves and information analysis process computer that control room inner control personnel wear, it is characterized in that:
(1) closely locates to be provided with the shooting unit that multi-angle is made a video recording in the multifinger mechanical Dextrous Hand, the video information of the multifinger mechanical Dextrous Hand operating state of its output is delivered to by cable on the display screen of operator's anaglyph spectacles or Helmet Mounted Display in real time, the operating state of stereoscopic display multifinger mechanical Dextrous Hand;
(2) the control personnel in the control room closely locate to be provided with the shooting unit, the movement posture of track up control personnel's hand, video image information transfers to the information analysis process computer, carry out exporting multifinger mechanical Dextrous Hand action parameter information after the Stereo Vision analyzing and processing, be sent to the Dextrous Hand controller through communication network, thereby the attitude of control multifinger mechanical Dextrous Hand imitation staff is moved;
(3) on the finger tip on the multifinger mechanical Dextrous Hand, be provided with the power sensor, detect the contact force information of finger and object, the multifinger mechanical Dextrous Hand of its output is respectively pointed the finger tip stress data, transfer to the information analysis process computer through communication network, the control information of output fictitious force is to force feedback data gloves after the information analysis process computer is handled, thereby the fictitious force mechanism in the control force feedback data gloves makes the operator obtain the sense of real-time virtual power.
Above-mentioned multifinger mechanical Dextrous Hand should have finger more than three or three, and each finger should have a plurality of joints.
Above-mentioned multifinger mechanical Dextrous Hand is the video camera arranged of the effective angle of two or more one-tenth of the alignment lens multifinger mechanical Dextrous Hand that is provided with in the certain space scope above the multifinger mechanical Dextrous Hand of the shooting unit that is provided with of place closely, from the duty image of different orientation picked-up multifinger mechanical Dextrous Hand; The quantity of video camera is no less than two.
The attitude image information of staff in three dimensions absorbed near shooting unit set the control personnel alignment lens control personnel being set in the certain space scope above hand and moving hand and wear the video camera that the effective angle of two or more one-tenth of force feedback data gloves is arranged of the above from different perspectives; For obtaining stereoscopic video images information, the quantity of video camera is no less than two; The basic principle of determining this group number of cameras is the complete image information that the image of different azimuth shooting can provide unscreened hand.
The LAP system that above-mentioned information analysis process computer and shooting unit constitute.
The fictitious force mechanism that is provided with in the above-mentioned force feedback data gloves is: the parts that produce fictitious force are installed on the finger tip position of force feedback data gloves, corresponding with the power sensor of multifinger mechanical Dextrous Hand finger tip, the size of the fictitious force sense that device produces is by the force information control of force sensor measuring on the multi-finger clever finger tip.
The present invention compared with prior art, have following conspicuous outstanding substantive distinguishing features and remarkable advantage: the present invention adopts the stereoscopic display mode of sealing to show presence states, and, the operator is had get close to on-the-spot sensation on the spot in person by the fictitious force sense of force feedback data gloves generation according to the decision of spot sensor measurement result; Adopt video camera to make sensor, the gesture attitude is carried out non-contact measurement, and utilize computer stereo vision technique that the attitude of staff is carried out analytical calculation, substituted attitude detection data glove commonly used, the feedback glove of exerting all one's strength can be worn over finishes the control operation attitude on hand, therefore can allow the control personnel with people's natural posture and way of feeling, the action of multifinger mechanical Dextrous Hand is controlled, meet the custom that the people operates object in the life.Therefore, compared by the control mode of feedback force with the size of the color representation feedback force of the different depths or with the another feel in the present invention and the prior art, control mode of the present invention is more natural, simple, better effects if.
Description of drawings
Fig. 1 is the structured flowchart of one embodiment of the invention.
Fig. 2 is that camera position is arranged schematic diagram in Fig. 1 example, and figure (a) is a top view, and figure (b) is a side view.The quantity of video camera can increase and decrease as required.The accurate location relation is decided on monitoring content, and this figure camera position arranges that schematic diagram is applicable to two groups of video cameras (2) and (4) among Fig. 1.
The specific embodiment
A preferred embodiment of the present invention is: referring to Fig. 1, this control platform of multifinger mechanical skillful closed ring real time action comprises the multifinger mechanical Dextrous Hand and the controller thereof that are positioned at distant operation element scene, be positioned at the three-dimensional surveillance of mechanical Dextrous Hand duty that the shooting unit at distant operation element scene and anaglyph spectacles that control room inner control personnel wear or helmet monitor constitute, be positioned at the shooting unit in control room and the control personnel gesture attitude information analytical system that the information analysis process computer constitutes (abbreviation LAP system), and the fictitious force that constitutes of the force feedback data gloves worn of information analysis process computer and control personnel is felt the generation system.(1) in multifinger mechanical Dextrous Hand 1 superjacent air space, is provided with the shooting unit 2 that multi-angle is made a video recording, the video information of multifinger mechanical Dextrous Hand 1 duty of its output, be delivered to by video line on the display screen 3 of operator's anaglyph spectacles or Helmet Mounted Display, show the duty of multifinger mechanical Dextrous Hand 1 in real time; (2) near the control personnel hand, be provided with the shooting unit 4 that multi-angle is made a video recording in the space, the movement posture video information of the staff of its output transfers to information analysis process computer 5, as calculated after the machine analyzing and processing, with the attitude of control personnel's gesture attitude in three dimensions, be converted to the output of multifinger mechanical Dextrous Hand action parameter information, be sent to Dextrous Hand controller 1 through communication network 7, the attitude of control multifinger mechanical Dextrous Hand 1 apery hand is moved; (3) strong sensor is installed on the respectively finger tip of multifinger mechanical Dextrous Hand 1, multifinger mechanical Dextrous Hand 1 each finger tip contact force data of its detection, transfer to information analysis process computer 5 through communication network 7, export the fictitious force control information after treatment to force feedback data gloves 6, thereby the fictitious force mechanism of control force feedback data gloves produces fictitious force, makes the operator obtain the fictitious force sense.Set shooting unit 2 is provided with the video camera of the effective angle layout of two or more one-tenth of alignment lens multifinger mechanical Dextrous Hand 1 near the above-mentioned multifinger mechanical Dextrous Hand 1 in the certain space above multifinger mechanical Dextrous Hand 1, the image/video information of picked-up multifinger mechanical Dextrous Hand 1 duty.Above-mentioned multifinger mechanical Dextrous Hand 1 has finger more than three or three, and each finger has a plurality of joints, with staff certain corresponding relation is arranged, and the power sensor of multifinger mechanical Dextrous Hand 1 is arranged on the finger tip.The fictitious force feel is installed on the above-mentioned data glove 6 produces mechanism, can produce fictitious force at the control personnel finger tip position corresponding with mechanical Dextrous Hand feels, power feels that form can be air bag or other pressure form, and power feel size is by the size control of the force information of force sensor measuring on the multi-finger clever finger tip.Set shooting unit 4 is video cameras that the appropriate location is provided with the effective angle layout of two or more one-tenth of alignment lens data glove 6 in control people's operator superjacent air space near the above-mentioned staff, obtains the spatial attitude video information of staff.Below structure of the present invention and operation principle thereof are described further:
1. designed control platform block diagram is as shown in Figure 1:
The stereoscopic vision monitor message at distant operation element scene sends back the control room by network, on the three-dimensional helmet display screen that the control personnel wear, show, the stereoscopic visual effect of Helmet Mounted Display and the sealing process of the helmet make the control personnel can produce sensation on the spot in person, the control personnel according to the observation to working site machinery Dextrous Hand and be operated the state of object, make the operational motion that the mechanical Dextrous Hand of requirement is finished by natural operating habit, the two dimensional image video information of the staff that the shooting unit in the LAP system (4 with 5 combination) will be taken from different orientation is given the information analysis process computer and is carried out image and handle and analyze, calculate the 3 d pose parameter of staff in the space, again according to the architectural difference and the various constraints of staff and mechanical Dextrous Hand, the staff attitude parameter that calculates is converted to the executable action parameter of mechanical Dextrous Hand, send mechanical Dextrous Hand action control computer to by communication network, in the manipulator behavior process, the contact force information that the power sensor of installing on its finger tip receives feeds back to the control computer in the control room, after treatment, finger tip partly produces the fictitious force feel on the force feedback data gloves of wearing on the control personnel hand, its size feels identical with the power of mechanical Dextrous Hand finger tip force sensor measuring, make the people to experience operating effect near the form of nature, down auxiliary in visual information, in real time control strategy is adjusted.
2. controlled multifinger mechanical Dextrous Hand is described as follows in the platform:
This machinery Dextrous Hand has three fingers or points more than three, and each finger of design and staff has certain corresponding relation.On each finger a plurality of joints are arranged, the joint quantity on the similar finger, the size of the finger length of manipulator, the degree of freedom of motion in each joint and hand can have some difference with staff.Many fingers, multiarticulate class staff machinery Dextrous Hand are the basic demand of system to control object (manipulator).
3. use the LAP complete operation people's of system gesture posture analysis:
This part adopts the method (computer vision) of non-contact detecting to replace detecting the data glove of staff attitude parameter.As described in third part, the operator according to the observation to the shape and the orientation of the object that will operate of manipulator, make extracting gesture (virtual attitude by the daily habits of oneself, do not have the actual object of grabbing), be contained in the movement posture of the shooting unit shooting staff in the suitable space, people top, the images of gestures video information of taking is sent into the information process analysis computer, computer is according to the different azimuth captured image information that receives, calculate the rotational angle in each joint of mechanical finger, give the controller of mechanical Dextrous Hand, control the action of mechanical Dextrous Hand imitation staff.
4. force feedback information part
As mentioned above, the power sensor is housed on the finger tip of mechanical Dextrous Hand, in order to make the operator experience manipulator and the contact condition that is operated object by enough natural way of feeling, this control platform adopts force feedback data gloves that the stressing conditions of manipulator finger tip is embodied on the same hand of making operation control attitude, basic process is: the detected contact force signal of power sensor is sent in the information analysis process computer by network, export the fictitious force control information after treatment, the fictitious force that driving is contained on the gloves feels that generation device causes and the similar power sense of the detected contact force of manipulator finger tip power sensor at people's finger finger tip, make people's finger that the sensation (in fact not having) that really touches object be arranged, according to the contact condition of experiencing, and the state of the mechanical Dextrous Hand working site of seeing in the helmet mounted display device, operating personnel can adjust the gesture attitude of oneself, be the extracting attitude of conversion manipulator, the operating result that obtains.
The control of this control platform refers to liking more, multi-joint machinery Dextrous Hand, the algorithm about staff space three-dimensional attitude of design can be applied on the finger of the varying number that the people uses, and adjusts accordingly according to the finger quantity of controlled mechanical Dextrous Hand.In addition, the method for design also can generate the order of gesture attitude, is used for the motion control of manipulator or teleoperation of robot, and the language that promptly uses gesture for example sends orders such as beginning, stop, a left side/right-hand rotation is moving.The symbolic language that the attitude that uses gesture is represented also is to carry out the long-range a kind of approach that exchanges with the deaf-mute from network.The method of reconstruction that the image that the basis that is adopted is taken from the object different azimuth carries out the space three-dimensional information of object also can be used to finish the object surfaces shape three-dimensional reconstruction of Robot actions, make the control personnel in the control room, carry out clearer observation, to make more perfect operation control decision to being operated object.
Claims (6)
1. control platform of multifinger mechanical skillful closed ring real time action, comprise the multifinger mechanical Dextrous Hand and the controller (1) thereof that are positioned at distant operation element scene, be positioned at anaglyph spectacles or helmet monitor (3) and force feedback data gloves (6) and information analysis process computer (5) that control room inner control personnel wear, it is characterized in that:
(1) closely locates to be provided with the shooting unit (2) that multi-angle is made a video recording in multifinger mechanical Dextrous Hand (1), the video information of multifinger mechanical Dextrous Hand (1) operating state of its output is delivered to by cable on the display screen of operator's anaglyph spectacles or Helmet Mounted Display (3) in real time, the operating state of stereoscopic display multifinger mechanical Dextrous Hand (1);
(2) the control personnel in the control room closely locate to be provided with shooting unit (4), the movement posture of track up control personnel's hand, video image information transfers to information analysis process computer (5), carry out exporting multifinger mechanical Dextrous Hand action parameter information after the Stereo Vision analyzing and processing, be sent to Dextrous Hand controller (1) through communication network (7), thereby the attitude of control multifinger mechanical Dextrous Hand (1) imitation staff is moved;
(3) on the finger tip on the multifinger mechanical Dextrous Hand (1), be provided with the power sensor, detect the contact force information of finger and object, the multifinger mechanical Dextrous Hand (1) of its output is respectively pointed the finger tip stress data, transfer to information analysis process computer (5) through communication network (7), the control information of output fictitious force is to force feedback data gloves (6) after information analysis process computer (5) is handled, thereby the fictitious force mechanism in the control force feedback data gloves (6) makes the operator obtain the sense of real-time virtual power.
2. control platform of multifinger mechanical skillful closed ring real time action according to claim 1 is characterized in that described multifinger mechanical Dextrous Hand (1) should have finger more than three or three, and each finger should have a plurality of joints.
3. control platform of multifinger mechanical skillful closed ring real time action according to claim 1, it is characterized in that described multifinger mechanical Dextrous Hand (1) closely the shooting unit (2) that is provided with of place be the video camera that the effective angle of two or more one-tenth of the alignment lens multifinger mechanical Dextrous Hand (1) that is provided with the certain space scope of the top of multifinger mechanical Dextrous Hand (2) in is arranged, absorb the duty image of multifinger mechanical Dextrous Hand (1) from different orientation; The quantity of video camera is no less than two.
4. control platform of multifinger mechanical skillful closed ring real time action according to claim 1, it is characterized in that describedly near shooting unit (4) set the control personnel alignment lens control personnel being set in the certain space scope above hand and moving hand and wear the video camera that the effective angle of two or more one-tenth of force feedback data gloves (6) is arranged, absorb the attitude image information of staff in three dimensions from different perspectives; For obtaining stereoscopic video images information, the quantity of video camera is no less than two; The basic principle of determining this group number of cameras is the complete image information that the image of different azimuth shooting can provide unscreened hand.
5. control platform of multifinger mechanical skillful closed ring real time action according to claim 1 is characterized in that the LAP system that described information analysis process computer (5) and shooting unit (4) constitute.
6. control platform of multifinger mechanical skillful closed ring real time action according to claim 1, it is characterized in that the fictitious force mechanism that is provided with in the described force feedback data gloves (6) is: the parts that produce fictitious force are installed on the finger tip position of force feedback data gloves (6), corresponding with the power sensor of multifinger mechanical Dextrous Hand finger tip, the size of the fictitious force sense that device produces is by the force information control of force sensor measuring on the multi-finger clever finger tip.
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