A method, device, electronic device and storage medium for interacting with a robot
An interaction method and robot technology, applied in the field of interaction method devices with robots, electronic equipment and storage media, can solve problems such as inability to follow human actions in time, robot actions not enough anthropomorphic, complex mapping algorithms, etc.
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Embodiment 1
[0060] figure 1 It is a flow chart of a method for interacting with a robot provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of interacting with a robot. Hardware implementation, the method specifically includes the following steps:
[0061] S110. Obtain bone coordinate data of the operator collected by the visual sensor.
[0062] Among them, the visual sensor is used to obtain enough original images to be processed by the machine vision system, specifically, it can collect the image information of the operator's skeleton and skeleton posture, for example, the Kinect sensor can be used to collect the position information of the operator's joints. The skeleton coordinate data may be the three-dimensional coordinate data of each joint of the operator under the coordinate system based on the visual sensor, such as the coordinate data of the head, the coordinate data of the neck, and the coordinate data of the shoulder. Specifical...
Embodiment 2
[0077] Embodiment two figure 2 It is a flow chart for controlling the rotation of the mechanical arm provided in Embodiment 2 of the present invention. On the basis of the above embodiment, optionally, take the robot’s mechanical arm following the operator’s arm movement as an example, when the bone coordinates The data includes: the coordinates of the head, neck, shoulder and elbow joints, respectively (x h ,y h ,z h ), (x n ,y n ,z n ), (x s ,y s ,z s ) and (x e ,y e ,z e );
[0078] Correspondingly, according to the bone coordinate data, determine the rotation angle of the associated part from the reference joint to the associated joint in the coordinate system constructed with the reference joint as the base point, including:
[0079] Determine the base vector in the coordinate system with the shoulder coordinates as the base point by the following formula and the vector of the associated part from the shoulder joint to the elbow joint
[0080]
[0081...
Embodiment 3
[0121] Image 6 It is a schematic structural diagram of a device for interacting with a robot provided by an embodiment of the present invention, and the device can be implemented by software and / or hardware. like Image 6 As shown, the device includes:
[0122] Skeleton data acquisition module 610, used to acquire the operator's bone coordinate data collected by the visual sensor;
[0123] The rotation angle determination module 620 is used to determine the rotation angle of the associated part from the reference joint to the associated joint in the coordinate system constructed with the reference joint as the base point according to the bone coordinate data;
[0124] The robot control module 630 is used to control the corresponding joint parts in the robot to move according to the rotation angle.
[0125] Optionally, the rotation angle determining module 620 includes:
[0126] The coordinate system determining unit, the user determines the base vector of the coordinate s...
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