CN204725501U - Body sense mechanical arm comfort level checkout gear - Google Patents
Body sense mechanical arm comfort level checkout gear Download PDFInfo
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- CN204725501U CN204725501U CN201520175983.2U CN201520175983U CN204725501U CN 204725501 U CN204725501 U CN 204725501U CN 201520175983 U CN201520175983 U CN 201520175983U CN 204725501 U CN204725501 U CN 204725501U
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Abstract
The utility model relates to a kind of body sense mechanical arm comfort level checkout gear, is be made up of Wearable Posture acquisition part, the algorithm debugs part and mechanical arm part: Wearable Posture acquisition part is connected and composed with wireless transmitter module and attitude transducer respectively by Posture acquisition controller; The algorithm debugs part is that connecting line wireless receiving module and TFT touch display screen connect and compose respectively by the algorithm debugs controller; Mechanical arm part, be connected with dot matrix plate a and dot matrix plate b through servo driving circuit, mechanical arm by mechanical arm controller, D.C. regulated power supply and servo driving circuit connect and compose.
Description
Technical field:
The utility model relates to a kind of checkout gear of mechanical arm, especially relates to a kind of checkout gear of mechanical arm body sense comfort level.
Background technology:
Today of the high speed development of automated control technology, become popular already with limb action induction (being called for short body sense, lower same) mode controller mechanical arm operation.But while this technology of body sense controller mechanical arm obtains more and more extensive use, it controls comfort level and does not obtain enough attention.The control system of current most body sense mechanical arm, is difficult to meet the requirement of operator for comfort level, as:
CN103895022A discloses one " sense of Wearable body controls manipulator ", comprise: manipulator, wireless terminal data process and emission system, human arm attitude data acquisition system, arm control end data processing and emission system, manipulator is connected with wireless terminal data process and emission system, human arm attitude data acquisition system is connected with arm control end data processing and emission system, and arm control end data processing and emission system and wireless terminal data process and emission system carry out data communication by wireless signal.
CN103386683A discloses one " a kind of body sense controller mechanical arm method based on Kinect ", comprises the steps: the three-dimensional coordinate in right side upper limbs 5 joints being obtained human body by Kinect sensor; Smoothing to the two exponent filtering algorithm of right side upper limbs 5 the joint coordinates data separate obtained; Utilize right side upper limbs 5 joint coordinates smoothly in the three-dimensional coordinate system of Kinect, build vector, obtained the angle at upper limbs place, right side by compute vector angle, the angle at described upper limbs place, right side comprises right shoulder joint place angle, right elbow joint place angle, right wrist joint place angle; Angle information is merged, forms a packet, add data packet head and School Affairs, send to robot by wireless serial, carry out mechanical arm control.
" computer application and software " the 2nd phase 157-160 page in 2013 discloses " design and implimentation based on the mechanical arm body sense interactive system of Kinect bone information " such as vast stretch of wooded country ripples, in its algorithm, people's hand position and mechanical arm tail end position are Linear Mapping relations, namely, in the process of working control, the terminal position of mechanical arm, the speed making action are proportional to human arm.But the physiological structure of human arm determines it does not possess the mechanical joint free degree high like that, and consider the factor such as dynamics, energy ezpenditure, the complexity that arm makes different action is also not quite similar, make the operator of body sense mechanical arm easily tired, efficiency is lower, is not suitable for long working.
Summary of the invention:
The purpose of this utility model is just for above-mentioned the deficiencies in the prior art, provides a kind of body sense mechanical arm comfort level checkout gear.
Order of the present utility model is achieved through the following technical solutions:
Body sense mechanical arm comfort level checkout gear is made up of Wearable Posture acquisition part 1, the algorithm debugs part 2 and mechanical arm part 3:
---Wearable Posture acquisition part 1 is connected and composed with wireless transmitter module 103 and attitude transducer 102 respectively by Posture acquisition controller 101;
---the algorithm debugs part 2 is that connecting line wireless receiving module 202 and TFT touch display screen 203 connect and compose respectively by the algorithm debugs controller 201;
---mechanical arm part 3 is connected with dot matrix plate A305a and dot matrix plate B305b through servo driving circuit 302, mechanical arm 303 by mechanical arm controller 301, and D.C. regulated power supply 304 and servo driving circuit 302 connect and compose.
Wearable Posture acquisition part 1 is wireless connections with the algorithm debugs part 2, and the algorithm debugs controller 201 in the algorithm debugs part 2 is connected with the mechanical arm controller 301 in mechanical arm part 3.
Described mechanical arm 303 is five degree of freedom articulated manipulators, and frame for movement is rigidity, and each joint of mechanical arm all connects with steering wheel, and D.C. regulated power supply 304 is powered through servo driving circuit 302.
Described Posture acquisition controller 101 is connected with three-axis gyroscope sensor, wireless communication module 103 respectively, attitude transducer, Posture acquisition controller, wireless transmitter module are integrated on same circuit board, and this circuit board is flexible PCB, the same plane place of three-axis gyroscope sensor proximity is printed on " positive direction mark " on the board, and Wearable Posture acquisition part is powered by miniature lithium battery.
Beneficial effect: the design of flexible PCB makes wearing module fit more closely arm, is conducive to stablely gathering attitude data.The comfort level optimization system of body sense mechanical arm control algolithm, for control algolithm provides the experimental rig of the complete set needed for optimization, the action comprising body sense mechanical arm realizes part and body sense control checkout gear.Wherein the action realization part of body sense mechanical arm comprises again Wearable Posture acquisition module and mechanical arm part.By detecting the comfort level of limb control action, instructing body sense mechanical arm designer to determine optimum comfortable mapping function and relevant parameter, contributing to the comfort level improving body sense control appliance, and then effectively improve the operating efficiency that body sense controls manipulator.
Accompanying drawing illustrates:
Fig. 1 is body sense mechanical arm comfort level structure of the detecting device block diagram;
Fig. 2 is the structured flowchart of body sense mechanical arm comfort level checkout gear Wearable Posture acquisition part;
Fig. 3 is the structure chart of body sense mechanical arm control and optimize part;
Fig. 4 is the structure chart of body sense mechanical arm comfort level checkout gear mechanical arm part;
1 Wearable Posture acquisition part, 2 the algorithm debugs parts, 3 mechanical arm parts, 101 Posture acquisition controllers, 102 attitude transducers, 103 wireless sending modules, 201 the algorithm debugs controllers, 202 wireless receiving modules, 203TFT touch display screen, 301 mechanical arm controllers, 302 servo driving circuit, 303 mechanical arms, 304 power supplies, 305a dot matrix plate A, 305b dot matrix plate B.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described in further detail
Body sense mechanical arm comfort level checkout gear is made up of Wearable Posture acquisition part 1, the algorithm debugs part 2 and mechanical arm part 3:
---Wearable Posture acquisition part 1 is connected and composed with wireless transmitter module 103 and attitude transducer 102 respectively by Posture acquisition controller 101;
---the algorithm debugs part 2 is that connecting line wireless receiving module 202 and TFT touch display screen 203 connect and compose respectively by the algorithm debugs controller 201;
---mechanical arm part 3 is connected with dot matrix plate A305a and dot matrix plate B305b through servo driving circuit 302, mechanical arm 303 by mechanical arm controller 301, and D.C. regulated power supply 304 and servo driving circuit 302 connect and compose.
Wearable Posture acquisition part 1 is wireless connections with the algorithm debugs part 2, and the algorithm debugs controller 201 in the algorithm debugs part 2 is connected with the mechanical arm controller 301 in mechanical arm part 3.
Described mechanical arm 303 is five degree of freedom articulated manipulators, and frame for movement is rigidity, and each joint of mechanical arm all connects with steering wheel, and D.C. regulated power supply 304 is powered through servo driving circuit 302.
Described Posture acquisition controller 101 is connected with three-axis gyroscope sensor and wireless communication module 103 respectively, attitude transducer, Posture acquisition controller, wireless transmitter module are integrated on same circuit board, and this circuit board is flexible PCB, the same plane place of three-axis gyroscope sensor proximity is printed on " positive direction mark " on the board, and Wearable Posture acquisition part is powered by miniature lithium battery.
Wearable Posture acquisition part 1, comprises Posture acquisition controller 101, attitude transducer 102 and wireless sending module 103.
Mechanical arm controller 301 adopts STM32F103C single-chip microcomputer, and attitude transducer 102 adopts MPU6050 gyro module, is electrically connected with Posture acquisition controller 101, will record attitude information and send Posture acquisition controller 101 to.MPU6050 gyro module can export the fusion calculation data of the spin matrix of 6 axles or 9 axles, hypercomplex number, Eulerian angles form in digital form, there are the 3 axis angular rate sensors that susceptibility is 131LSBs/ °/sec, its full lattice sensing range is ± 250, ± 500, ± 1000; Have 3 axle acceleration sensors that susceptibility is ± 2000 °/sec, its full lattice sensing range is ± 2g, ± 4g, ± 8g and ± 16g.Described wireless sending module 103 is 2.4GHZ wireless communication module, concrete adopts nrf24l01 radio receiving transmitting module, is electrically connected with Posture acquisition controller 101, can Real-time Collection attitude information broadcast to the algorithm debugs part 2 and receive.
The algorithm debugs part 2, comprises the algorithm debugs controller 201, wireless receiving module 202, TFT touch display screen 203.The algorithm debugs controller 201 adopts STM32F103C single-chip microcomputer.Wireless receiving module 202 adopts nrf24l01 radio receiving transmitting module, with wireless transmitter module 103 wireless connections, be connected with the algorithm debugs controller 201, the attitude information from wireless sending module 103 received can be passed back the algorithm debugs controller 201 in real time.TFT touch display screen 203 is electrically connected with the algorithm debugs controller 201, can show every controling parameters, mapping function, and reads in the rewriting operation of people to arbitrary parameter sum functions, is used for finishing man-machine interaction.
Mechanical arm part 3, comprises mechanical arm controller 301, servo driving circuit 302, mechanical arm structure 303, power supply 304, dot matrix plate A305a, dot matrix plate B305b.Mechanical arm controller 301 adopts STM32F103C single-chip microcomputer, be electrically connected with the algorithm debugs controller 201, motor-drive circuit 302 respectively, the information becoming joint of mechanical arm place steering wheel to identify the output information calculation process from the algorithm debugs controller 201 received.Power supply 304 adopts 12V D.C. regulated power supply, is electrically connected with servo driving circuit 302, for driving machine mechanical arm 303 is powered.Mechanical arm 303, is illustrated in figure 3 five degree of freedom articulated manipulator, and frame for movement is rigidity, and each joint of mechanical arm all connects with steering wheel.Dot matrix plate A305a, dot matrix plate B 305b, be two hard plates, be printed on orthogonal dot matrix above.Two blocks of dot matrix plates respectively according to mechanical arm face with a left side depending on vertical direction orthogonally to put, form a locus coordinate system, be used for the tip location of measuring machine mechanical arm 303.
First, algorithm to be optimized is embedded in the algorithm debugs controller 201, by TFT touch display screen 203, each unJeiermined function and undetermined parameter are initialized, in the present embodiment, unJeiermined function is linear mapping function, undetermined parameter is horizontal movement position proportional COEFFICIENT K x and vertical motion position proportional COEFFICIENT K y, sets its initial value and is 1.In the course of work, all undetermined parameters and mapping function undetermined are presented on the TFT touch display screen 203 in the algorithm debugs part 2 all in real time.
At experiencer's left arm or the upper arm of right arm and the middle part of underarm, wear Wearable Posture acquisition part 1a and 1b respectively, wherein forearm wears 1a, and large arm wears 1b, the wearing position of adjustment two Posture acquisition part 1a and 1b, makes positive direction identify the dead ahead be all in when arm naturally droops.After wearing completes, start the power supply of each module, initialization system.
Wearable Posture acquisition part 1a and 1b Real-time Collection arm attitude solution is counted as digital attitude information, as the input data of algorithm.Digital attitude information is periodically sent to wireless receiving module 202 by the wireless transmitter module 103 of Wearable Posture acquisition part 1a and 1b, and then pass to the algorithm debugs controller 201, the algorithm debugs controller 201 is according to the setting of current control algolithm, and the initial value of unJeiermined function and each undetermined parameter, carry out kinematics to the attitude data recorded to resolve, draw the targeted attitude of mechanical arm 303, export targeted attitude information, after the mechanical arm controller 301 of mechanical arm part 3 receives the targeted attitude information exported from the algorithm debugs controller 201, be processed into control instruction that mechanical arm structure 303 joint steering wheel can identify and exported, through the driving of servo driving circuit 302 and the power supply of power supply 304, the steering wheel of each joint of mechanical arm 303 rotates to angle on target, complete the first tracking of mechanical arm 303 pairs of human arm attitudes.The tip location recording now mechanical arm 303 at dot matrix plate 305A and dot matrix plate 305B become coordinate in the coordinate system of locus.
Experiencer is according to said process, by the tip location of body sensing mode controller mechanical arm 303 move to respectively dot matrix plate A305a and dot matrix plate B305b become the point of each coordinate in the coordinate system of locus, observe the position that mechanical arm tracks simultaneously, contrast with the posture position of oneself arm, evaluation is made to the attitude level of comfort in control procedure.Designer, according to the evaluation of experiencer, is determined the functional relation or parameter of optimizing required adjustment further, is made optimize and revise operation accordingly by TFT touch display screen 203 pairs of algorithms.
After algorithm optimization, experiencer uses again according to said process, move to dot matrix plate A305a respectively by the tip location of body sensing mode controller mechanical arm 303 and become each position in the coordinate system of locus with dot matrix plate B305b, and again attitude level of comfort is made an appraisal, for the suboptimization again of algorithm.Repeat above-mentioned work, until experiencer thinks that completing various motion and tip location by body sense controller mechanical arm structure 303 arrives dot matrix plate A305a and become in the coordinate system of locus in each position with dot matrix plate B305b, till most of position is all comparatively comfortable.Through the repeated work of 14 times, final experiencer think by body sense controller mechanical arm 303 complete various motion and tip location arrive A, B (305) institute becomes the dibbling of each coordinate in the coordinate system of locus most of put all comparatively comfortable till.
Designer records the correction daily record to mapping function in whole process, record final every undetermined parameter, as comfort level foundation, optimize and improve algorithm, the comfortable algorithm of the body sense controller mechanical arm finally determined, mapping function undetermined is 7 sections of subsection compression functions, and undetermined parameter is that horizontal movement position proportional COEFFICIENT K x and vertical motion position proportional COEFFICIENT K y are respectively 1.7,1.3.
Claims (4)
1. a body sense mechanical arm comfort level checkout gear, is characterized in that, is to be made up of Wearable Posture acquisition part (1), the algorithm debugs part (2) and mechanical arm part (3):
---Wearable Posture acquisition part (1) is connected and composed with wireless transmitter module (103) and attitude transducer (102) respectively by Posture acquisition controller (101);
---the algorithm debugs part (2) is that connecting line wireless receiving module (202) and TFT touch display screen (203) connect and compose respectively by the algorithm debugs controller (201);
---mechanical arm part (3), be be connected with dot matrix plate A (305a) and dot matrix plate B (305b) through servo driving circuit (302), mechanical arm (303) by mechanical arm controller (301), D.C. regulated power supply (304) and servo driving circuit (302) connect and compose.
2. according to body sense mechanical arm comfort level checkout gear according to claim 1, it is characterized in that, Wearable Posture acquisition part (1) and the algorithm debugs part (2) are wireless connections, and the algorithm debugs controller (201) in the algorithm debugs part (2) is connected with the mechanical arm controller (301) in mechanical arm part (3).
3. according to body sense mechanical arm comfort level checkout gear according to claim 1, it is characterized in that, described mechanical arm (303) is five degree of freedom articulated manipulator, frame for movement is rigidity, the each joint of mechanical arm all connects with steering wheel, and D.C. regulated power supply (304) is powered through servo driving circuit (302).
4. according to body sense mechanical arm comfort level checkout gear according to claim 1, it is characterized in that, attitude transducer (102) is connected with wireless sending module (103) through Posture acquisition controller (101), attitude transducer, Posture acquisition controller, wireless transmitter module are integrated on same circuit board, and this circuit board is flexible PCB, same plane place on the board near attitude transducer is printed on " positive direction mark ", and Wearable Posture acquisition part is powered by miniature lithium battery.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520175983.2U CN204725501U (en) | 2015-03-26 | 2015-03-26 | Body sense mechanical arm comfort level checkout gear |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520175983.2U CN204725501U (en) | 2015-03-26 | 2015-03-26 | Body sense mechanical arm comfort level checkout gear |
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| CN204725501U true CN204725501U (en) | 2015-10-28 |
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| CN201520175983.2U Expired - Fee Related CN204725501U (en) | 2015-03-26 | 2015-03-26 | Body sense mechanical arm comfort level checkout gear |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003053A (en) * | 2016-07-29 | 2016-10-12 | 北京工业大学 | Teleoperation passive robot control system and control method thereof |
| CN108044608A (en) * | 2018-02-05 | 2018-05-18 | 天津职业技术师范大学 | A kind of wearable body-sensing robot |
| CN112674761A (en) * | 2020-12-25 | 2021-04-20 | 苏州衡品医疗科技有限公司 | System and method for detecting human body deep sensation balance capability |
-
2015
- 2015-03-26 CN CN201520175983.2U patent/CN204725501U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003053A (en) * | 2016-07-29 | 2016-10-12 | 北京工业大学 | Teleoperation passive robot control system and control method thereof |
| CN108044608A (en) * | 2018-02-05 | 2018-05-18 | 天津职业技术师范大学 | A kind of wearable body-sensing robot |
| CN112674761A (en) * | 2020-12-25 | 2021-04-20 | 苏州衡品医疗科技有限公司 | System and method for detecting human body deep sensation balance capability |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151028 Termination date: 20160326 |