CN204748634U - Motion control system of robot - Google Patents
Motion control system of robot Download PDFInfo
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- CN204748634U CN204748634U CN201520471428.4U CN201520471428U CN204748634U CN 204748634 U CN204748634 U CN 204748634U CN 201520471428 U CN201520471428 U CN 201520471428U CN 204748634 U CN204748634 U CN 204748634U
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Abstract
The utility model discloses a motion control system of robot, including myo arm ring, signal reception end, singlechip, motor steering engine control ware and motor / steering wheel, myo arm ring links to each other with the signal reception end through the bluetooth, and the signal reception end links to each other with singlechip, motor steering engine control ware and motor / steering wheel in proper order, and the signal reception end is computer, smart mobile phone or panel computer. The utility model discloses a control system utilizes biological electromechanics to carry out the gesture and controls, and human -computer interaction is friendly, and difficult the production it of ambient noise is disturbed moreover, and be also lower to the treater requirement, need not install extra camera, low cost, and the discrimination is high.
Description
Technical field
The utility model relates to robot and biological electro-mechanical arts, particularly relates to a kind of robot movement-control system.
Background technology
The research range of robot is boundless, comprises numerous subjects such as machine vision, artificial intelligence, Digital Signal Processing, communication, computer science, sensing and detection, control theory, pattern-recognition.Along with the development of Robotics, its intelligent level is greatly improved, on the one hand robot by replace more widely people be engaged in various machinery repeatedly, the production operation of negative unhealthy and danger, increasing robot enters into average family and helps people on the other hand, looks after old man, the disabled, patient etc. and completes various task.
Electromyographic signal (EMG) is moving cell action potential (MUAP) superposition over time and space in numerous muscle fibre.Surface electromyogram signal (SEMG) is that on superficial muscular EMG and nerve cord, electrical activity, at the comprehensive effect of skin surface, can reflect nervimuscular activity to a certain extent; In measurement, there is Noninvasive, hurtless measure, simple operation and other advantages relative to pin electrode EMG, SEMG.Thus, SEMG all has important practical value in clinical medicine, man-machine efficacy, medical science of recovery therapy and sports science etc.
Robot combines with biology electromechanics, exactly by allowing the bio signal of machine recognition people, and converts corresponding control signal to, finally realizes more friendly man-machine interaction.
Be mostly at present robot the many employings of control mode below several mode: the first, adopt button, remote control, handle etc., this control mode is friendly not in man-machine interaction; The second, Voice command, this mode is higher to environmental requirement, and ambient noise is easy to cause interference to control, and the category of language that can identify is limited; The third, image recognition, visual spatial attention, this control mode requires higher to processor performance, and needs additionally to install camera, and cost is higher, and accuracy also has much room for improvement.
Summary of the invention
The purpose of this utility model overcomes the deficiencies in the prior art, provides a kind of robot movement-control system.
The technical solution of the utility model is as follows:
A kind of robot movement-control system, comprise Myo armlet, signal receiving end, single-chip microcomputer, motor/steering engine controller and motor/steering wheel, Myo armlet is connected with signal receiving end by bluetooth, and signal receiving end is connected with motor/steering wheel with single-chip microcomputer, motor/steering engine controller successively.Described signal receiving end is computer, smart mobile phone or panel computer.Described Myo armlet is provided by Thalmic company.
The beneficial effect that the utility model compared with prior art has: utilize biological electromechanics to carry out gesture control, man-machine interaction is friendly, and ambient noise not easily produces interference to it, also lower to processor requirement, do not need to install extra camera, with low cost, discrimination is high.And the SEMG used has Noninvasive, hurtless measure, simple operation and other advantages in measurement, all has important practical value in clinical medicine, man-machine efficacy, medical science of recovery therapy and sports science etc.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of robot movement-control system;
Fig. 2 is five kinds of gesture schematic diagrames in robot movement-control system's control procedure of the present utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
A kind of robot movement-control system, comprise Myo armlet, signal receiving end, single-chip microcomputer, motor/steering engine controller and motor/steering wheel, Myo armlet is connected with signal receiving end by bluetooth, and signal receiving end is connected with motor/steering wheel with single-chip microcomputer, motor/steering engine controller successively.Described signal receiving end is computer, smart mobile phone or panel computer.Described Myo armlet is provided by Thalmic company.
Utilize this device to carry out the method for motion planning and robot control, comprise the steps:
Step (1): be worn on arm by Myo armlet, detects the acceleration signal of arm motion, attitude signal and electromyographic signal by Myo armlet;
Step (2): the signal data that Myo gathers is transferred to computer or smart mobile phone or panel computer by bluetooth;
Step (3): signal data, by the SDK coding of Myo armlet, is resolved and is reduced into the hand signal of user by computer or smart mobile phone or panel computer;
Step (4): hand signal is sent to single-chip microcomputer by computer or smart mobile phone or panel computer;
Step (5): single-chip microcomputer and sensor and motor or steering engine controller are connected, and go to control motor or steering wheel motion, reach the object of control.
The Myo armlet also produced by Thalmic company designs, it comprises 1 nine axle inertial sensor unit, 8 surface myoelectric sensors and a Bluetooth Receiver.Wherein nine axle inertial sensor unit are for detecting arm motion track and orientation, and surface myoelectric sensor is for detecting arm electromyographic signal during different gesture, and Bluetooth Receiver is used for the data communication of Myo and controller.Described robot comprises one and comprehensively turns to four-wheel drive chassis and a lifting structure.Machine people has been the hardware condition of control action, and chassis driving wheel is made up of four steering wheels and four DC brushless motors, and lifting structure is made up of two linear electric motors.
Described Myo armlet is by being connected with controller with bluetooth, and controller is connected with motor by relay, be hand signal and inertial sensor signal be motor message, and then control completes the motion of predetermined action finally by decoding electromyographic signal.
Workflow of the present utility model is introduced below by accompanying drawing 1.
Described Myo armlet, comprise 1 nine axle inertial sensor unit (three axis accelerometer, three-axis gyroscope, three axle magnetometers) and 8 surface myoelectric sensors, nine axle inertial sensor unit can detect athletic posture and the acceleration signal of arm, the electromyographic signal of arm when machining surface electric transducer can detect palm and finger motion, and then change into the signal of telecommunication.
Then by bluetooth, above-mentioned arm attitude signal, acceleration signal, electromyographic signal are transferred to computer or mobile phone or panel computer, the SDK of the Myo armlet provided by Thalmic company, these signal decodings are reduced into corresponding hand signal by coding.Set 5 kinds of hand signals (right hand is example) in the present embodiment, as shown in Figure 2, they are respectively middle finger and thumb is double-clicked, clenches fist, opened hand, and palm is brandished left, palm is brandished to the right.
After the procedure identification in computer/mobile phone/panel computer goes out corresponding hand signal, corresponding hand signal can be sent to single-chip microcomputer by wireless or Bluetooth function (computer can adopt data wire to connect) by mobile phone/panel computer, single-chip microcomputer is different according to the hand signal received, control motor and steering engine controller respectively, and then go control motor or steering wheel to go to realize different motion modes.For the artificial example of four-wheel exercise machine, when double-click gesture being detected, represent the people that starts the machine; When a hand gesture being detected, representing and advancing; When detect a left side wave gesture time, represent turn left; When detect the right side wave gesture time, expression bends to right.When detect clench fist gesture time, represent stop robot motion.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (2)
1. a robot movement-control system, it is characterized in that comprising Myo armlet, signal receiving end, single-chip microcomputer, motor/steering engine controller and motor/steering wheel, Myo armlet is connected with signal receiving end by bluetooth, and signal receiving end is connected with motor/steering wheel with single-chip microcomputer, motor/steering engine controller successively.
2. robot movement-control system as claimed in claim 1, is characterized in that described signal receiving end is computer, smart mobile phone or panel computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520471428.4U CN204748634U (en) | 2015-07-03 | 2015-07-03 | Motion control system of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520471428.4U CN204748634U (en) | 2015-07-03 | 2015-07-03 | Motion control system of robot |
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| CN204748634U true CN204748634U (en) | 2015-11-11 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393885A (en) * | 2018-01-19 | 2018-08-14 | 华南理工大学 | A kind of system and method for mobile phone terminal wireless control mechanical arm |
| CN109646242A (en) * | 2017-10-12 | 2019-04-19 | 上海师范大学 | A kind of Table top type upper limb rehabilitation robot and its application method |
-
2015
- 2015-07-03 CN CN201520471428.4U patent/CN204748634U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109646242A (en) * | 2017-10-12 | 2019-04-19 | 上海师范大学 | A kind of Table top type upper limb rehabilitation robot and its application method |
| CN108393885A (en) * | 2018-01-19 | 2018-08-14 | 华南理工大学 | A kind of system and method for mobile phone terminal wireless control mechanical arm |
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