Kinect-based motion sensing-control method for manipulator

A somatosensory control, robotic arm technology, applied in the direction of program control manipulator, manipulator, mechanical mode conversion, etc., to reduce casualties, improve intelligence, and facilitate expansion and integration.

CN103386683BInactive Publication Date: 2015-04-08三亚哈尔滨工程大学南海创新发展基地
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2015-04-08
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention aims to provide a Kinect-based motion sensing-control method for manipulator comprising the following steps of obtaining the three-diemnsional coordinates of five joints of the right upper limb of a human body by a Kinect sensor; smoothing the obtained five joint coordinate data of the right upper limb by a double-exponential filtering algorithm; constructing vectors in the three-dimensional space coordinate system of the Kinect by utilizing the smoothed 5 joint coordinates of right upper limb, and obtaining the angles of the right upper limb by calculating the vector included angles, wherein the angles of the right upper limb comprise a right shoulder joint angle, a right elbow joint angle and a right wrist joint angle; fusing the angle information to form a data package, adding with a data package head and a checksum, and sending to a robot by a wireless serial port to perform manipulator control. The Kinect-based motion sensing-control method for the manipulator can finish the flexible and accurate control on the manipulator and the moving robot by accurate identification on the human body actions, thus enabling the interaction between people and the robot to be more friendly and improving the intelligence of the robot.
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Description

technical field

[0001] The invention relates to a robot control method, in particular to a somatosensory robot control method. Background technique

[0002] Kinect is a 3D somatosensory camera, and it introduces functions such as real-time motion capture, image recognition, microphone input, voice recognition, and social interaction. Microsoft launched the Kinect for Windows SDK Beta in June 2011. It is a new type of human-computer interaction system and a new type of body perception sensor. It has a wide range of applications, such as virtual fitting mirror, 3D modeling, virtual musical instruments, virtual entertainment, and mechanical control. At present, there are few researches on the robot control method based on Kinect, and the research on using Kinect to realize the flexible control of the robot has a very broad application prospect.

[0003] At present, with the help of Japan's advanced robot technology, scientists have conducted experiments on real-time control o...

Examples

Embodiment approach 1

[0046] combine figure 1 ~5, the overall steps of this embodiment are:

[0047] (1) The three-dimensional coordinates of 20 bone points of the human body are obtained through the Kinect sensor. The joint coordinates mainly used in the experiment include the coordinates of the right hip joint, right shoulder joint, right elbow joint, right wrist joint and right hand joint.

[0048] (2) Use the double exponential filter algorithm to smooth the obtained right arm joint coordinate data to reduce the jitter during the movement of the right arm joint.

[0049] (3) Use the filtered right arm joint coordinates to construct a vector in Kinect's three-dimensional space coordinate system. By calculating the angle between the vectors, you can know the angles at the right arm joints, including the angle at the right shoulder joint and the angle at the right elbow joint. , The angle at the right wrist joint. Save the calculation results;

[0050] (4) Fuse the angle information to form a d...