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ROS platform online manipulator teaching system based on human body posture recognition

A technology of human body posture and robotic arm, applied in the field of online robotic arm teaching system on the ROS platform, can solve the problem of low control accuracy and achieve high efficiency, low cost, and high flexibility

Active Publication Date: 2021-10-15
ZHEJIANG UNIV OF TECH
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The gesture control-based manipulator teaching system designed by application number 201711088599.9 also adopts the method of installing sensors on the working end to obtain motion information, but the control accuracy is not high

Method used

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  • ROS platform online manipulator teaching system based on human body posture recognition

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Embodiment Construction

[0024] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0025] An online manipulator teaching system on the ROS platform based on human body posture recognition, such as figure 1 As shown, it includes two color cameras Microsoft KinectV2, five IMUs based on JY901 and Bluetooth modules, one computer with Ubuntu system installed, and one UR5 robotic arm produced by Universal Robots. The camera and the computer transmit data through a USB connection, the IMU and the computer transmit data through Bluetooth, and the robotic arm is connected to the computer through a local area network. The CPU of the computer in this system uses Intel Core i7-7800K 3.50Ghz, and the GPU uses Nvidia TITAN Xp.

[0026] combine figure 1 , the principle and application process of the patent of the present invention are as follows:

[0027] The image preprocessing module first takes the AR logo ArUco Marker#0 recognized by...

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Abstract

The ROS platform online manipulator teaching system based on human body posture recognition is built on the open source robot operation platform ROS, including: IMU module for collecting human body posture data, image preprocessing module and joint recognition module for solving human body real-time Human body posture solution module for posture and position, robot behavior decision-making module and robot IO module for controlling the action of the robotic arm. Among them, the robot decision-making module issues control instructions according to the obtained human body posture data, and the instructions are sent to the mechanical arm through the robot IO module to realize real-time teaching. An information display module is also included. The invention provides an online manipulator teaching system with low requirements on the technical level of operators, high precision and less restriction on the operating environment.

Description

technical field [0001] The present invention designs an online manipulator teaching system, especially an online manipulator teaching system based on human body posture recognition on the ROS platform. Background technique [0002] In recent years, my country's robot industry has developed rapidly. Led by cities in the Yangtze River Delta and Pearl River Delta regions, 36 cities across the country have taken robots as the focus of local industry development, and the amount of financial subsidies has increased significantly. The provincial finance of Zhejiang Province has allocated nearly 600 million funds to support the technological transformation of "machine replacement", and introduced a policy of incentives and subsidies for the purchase of industrial robots. The province and the local government will match each other at a ratio of 1:2, and the purchase of industrial robots will be subsidized by 10% of the price. According to forecasts, the market size of industrial robo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/22B25J9/16
CPCB25J9/0081B25J9/16B25J9/1664
Inventor 禹鑫燚胡晨佳董云帆欧林林王正安周晨章焕锭
Owner ZHEJIANG UNIV OF TECH
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