CN110216676A - A kind of Mechanical arm control method, manipulator control device and terminal device - Google Patents
A kind of Mechanical arm control method, manipulator control device and terminal device Download PDFInfo
- Publication number
- CN110216676A CN110216676A CN201910542115.6A CN201910542115A CN110216676A CN 110216676 A CN110216676 A CN 110216676A CN 201910542115 A CN201910542115 A CN 201910542115A CN 110216676 A CN110216676 A CN 110216676A
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- Prior art keywords
- arm
- user
- hand
- mechanical arm
- control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention is suitable for control technology field, provide a kind of Mechanical arm control method, manipulator control device and terminal device, the Mechanical arm control method, include: the first relative position information for obtaining the arm of user in real time by somatosensory device relative to the trunk of user, and obtains the status information of the hand of the user in real time；Real-time control machinery arm is moved according to first relative position information, and real-time control is located at the gripper execution operation corresponding with the status information of the end of the mechanical arm.By the invention it is possible to meet people to efficient interacting activity is experienced, thus the demand for obtaining enjoyment or improving efficiency.
Description
Technical field
The invention belongs to control technology field more particularly to a kind of Mechanical arm control methods, manipulator control device and end
End equipment.
Background technique
Inventors have found that in the scenes such as scientific and technological exhibition, human-computer interaction contest, goods transportation and recreation,
It is intended that efficient interacting activity can be experienced, to obtain enjoyment or improve efficiency.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of Mechanical arm control method, manipulator control device and terminals to set
It is standby, to meet people to efficient interacting activity is experienced, thus the demand for obtaining enjoyment or improving efficiency.
The first aspect of the embodiment of the present invention provides a kind of Mechanical arm control method, comprising:
Obtain the first relative position information of the arm of user relative to the trunk of user in real time by somatosensory device, and real
When obtain the user hand status information；
Real-time control machinery arm is moved according to first relative position information, and real-time control is located at the machinery
The gripper of the end of arm executes operation corresponding with the status information.
The second aspect of the embodiment of the present invention provides a kind of manipulator control device, comprising:
Obtain module, for by somatosensory device obtain in real time the arm of user relative to user trunk it is first opposite
Location information, and the status information of the hand of the user is obtained in real time；
Control module is moved according to first relative position information for real-time control machinery arm, and is controlled in real time
The gripper that system is located at the end of the mechanical arm executes operation corresponding with the status information.
The third aspect of the embodiment of the present invention provides a kind of terminal device, including memory, processor and is stored in
In the memory and the computer program that can run on the processor, when the processor executes the computer program
The step of realizing method as described above.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has the step of computer program, the computer program realizes method as described above when being executed by processor.
Existing beneficial effect is the embodiment of the present invention compared with prior art: in the embodiment of the present invention, being set by body-sensing
First relative position information of trunk of the standby arm for obtaining user in real time relative to user, and the hand of the user is obtained in real time
The status information in portion；Real-time control machinery arm is moved according to first relative position information, and real-time control is located at institute
The gripper for stating the end of mechanical arm executes operation corresponding with the status information.In the embodiment of the present invention, described first
Relative position information can indicate movement of the arm relative to trunk of user, and the status information of the hand of the user can be with
The hand for indicating the user is to open or close etc., by real-time control machinery arm according to first relative position information
It is moved, and real-time control is located at the gripper execution behaviour corresponding with the status information of the end of the mechanical arm
Make, can by mechanical arm and positioned at the end of the mechanical arm gripper realize to the arm of user and hand etc. act
Real-time Feedback and interaction, and flexible operation is easy, better user experience, while operating efficiency is higher.The program can be
User provides interacting activity, has stronger interest, practicability and ease for use are stronger.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the implementation process schematic diagram for the Mechanical arm control method that the embodiment of the present invention one provides；
Fig. 2 is the implementation process schematic diagram of Mechanical arm control method provided by Embodiment 2 of the present invention；
Fig. 3 is the schematic diagram for the manipulator control device that the embodiment of the present invention three provides；
Fig. 4 is the schematic diagram for the terminal device that the embodiment of the present invention four provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " instruction is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Fig. 1 is the implementation process schematic diagram for the Mechanical arm control method that the embodiment of the present invention one provides.
In the embodiment of the present invention, the Mechanical arm control method can by include message processing module terminal device come
It realizes.In addition, the terminal device can also include one or more somatosensory devices and one or more mechanical arms, the machinery
The end of arm includes gripper.The message processing module may include such as central processing unit (Central Processing
Unit, CPU) etc. can carry out the module or equipment of information processing.In addition, the somatosensory device and/or the mechanical arm
It can be used as external equipment and be external in terminal device, the connection of the mechanical arm and/or the somatosensory device and the processor
Mode and communication mode can be configured according to practical application scene, herein with no restrictions.For example, the information processing mould
Block can pass through cable network, wireless network (such as communication of Bluetooth communication, Wi-Fi, 3rd generation mobile communication technology (the3rdGe
Nerationmobilecommunicationtechnology, 3G), fourth generation mobile communication technology (the4thGeneratio
Nmobilecommunicationtechnology, 4G) or the 5th generation mobile logical 25 letter technology (the5thGenerationm
Obilecommunicationtechnology, 5G) network) etc. communicated respectively with the mechanical arm and the somatosensory device
Connection so as to obtain the data of the somatosensory device, and can pass through mechanical arm described in control motor driven.
The Mechanical arm control method as shown in Figure 1 may comprise steps of:
Step S101 obtains the first relative position of the arm of user relative to the trunk of user by somatosensory device in real time
Information, and the status information of the hand of the user is obtained in real time.
In the embodiment of the present invention, the somatosensory device can detecte the limb action of user, and user is allowed to pass through limb
Body movement is interacted with designated equipment or environment.The somatosensory device can pass through infrared ray, laser or camera etc.
Mode detects the limb action of the user.Illustratively, the somatosensory device can be the third party devices such as Kinect.When
So, the somatosensory device is also possible to other equipment, such as the equipment that can be user's designed, designed.
The arm of the user may include left arm and/or right arm, and the hand may include left hand and/or the right side
Hand.In some embodiments, the hand is corresponding with the arm, for example, when the arm includes right arm, the hand
Portion includes the right hand；And the arm, when including left arm, the hand includes left hand.In general, the side hand of the user
Arm can correspond to a mechanical arm, if there are two the mechanical arms or multiple, can detect left arm and the right side of user simultaneously
Arm, it might even be possible to detect the arm of multiple users.In the embodiment of the present invention, the quantity of the mechanical arm herein with no restrictions,
Correspondingly, the number of the quantity and the user of arm detected and hand is herein also with no restrictions.
In the embodiment of the present invention, first relative position information may include the seat of the specific characteristic point on the arm
The difference of mark and the coordinate of the trunk.Specific characteristic point on the arm can be configured according to practical application scene.
Illustratively, the specific characteristic point may include the characteristic point on the joint of the arm, and the joint on the arm can be with
Including the joint (i.e. shoulder joint) between arm and shoulder, one or more in elbow joint and wrist joint.The state
Information can indicate that the hand of the user is in the states such as open or clench fist.
Optionally, the arm is right arm, and the hand is the right hand, and/or, the arm is left arm, the hand
Portion is left hand.
It can be subsequent accordingly real by detecting the relevant information of the arm and hand that are located at body the same side of user
When control mechanical arm and positioned at mechanical arm end gripper provide data basis.And it is possible to pass through mechanical arm subsequent
And the gripper positioned at mechanical arm end accordingly executes the movement of the arm and hand of body the same side of user.
Step S102, real-time control machinery arm is moved according to first relative position information, and real-time control position
Gripper in the end of the mechanical arm executes operation corresponding with the status information.
In the embodiment of the present invention, the mechanical arm can become according to the arm relative to the position of the trunk of the user
Change situation to move, at this point, the mechanical arm can with the movement of the arm of analog subscriber, also, the movement of the mechanical arm away from
It can be corresponding relative to the moving distance and movement speed of the trunk with the arm of the user from, movement speed etc..
In the embodiment of the present invention, the gripper can also be with the movement of the hand of analog subscriber, for example, when user clenches fist
When, it can control the gripper closure, to grab specified article；When user's hand opens, then it can control the machine
Machinery claw is opened, to decontrol specified article.Certainly, the operation of the gripper and the corresponding relationship of the status information can be with
There are many, it can be configured according to the needs of practical application scene.
A kind of concrete application of the invention is illustrated with a specific example below.
In a kind of application scenarios, user want crawl article can be doll, toy and other items (it is of course also possible to
It is other articles), and existing doll machine of grabbing is that user by modes such as rocking bar and buttons controls mechanical arm and gripper
Movement, also, in the prior art, the opening and closing of the gripper be often also it is preset, cannot be by user
To control.
And a kind of specific example of the invention can be used for grabbing the dolls such as doll.At this point it is possible to pass through the mechanical arm mould
The movement of the arm of imitative user, and by the states such as clench fist or open of the hand of gripper imitation user, so that with
Family can be by the limb action of itself, and the gripper for controlling mechanical arm and mechanical arm end reaches specific position crawl doll
Equal dolls, thus be different from it is existing grab doll machine, provide a kind of more flexible interesting and novel human-computer interaction side for user
Formula.And this exemplary equipment dismounting is simple, and convenient for safeguarding, user experience is friendly, and the speed of service is fast, has stronger business
Prospect.
Optionally, the status information of the hand includes indicating that the hand is in clench fist state or open configuration:
Correspondingly, the gripper execution that the real-time control is located at the end of the mechanical arm is opposite with the status information
The operation answered, comprising:
If the status information indicates that the hand is in state of clenching fist, control is located at the machine of the end of the mechanical arm
Machinery claw executes closed procedure；
If the status information indicates that the hand is in open configuration, control is located at the machine of the end of the mechanical arm
Machinery claw executes flaring operation.
In the embodiment of the present invention, the gripper can be metal material, be also possible to other materials.Due to the machinery
Pawl execute closed procedure when, may applied force, therefore, the gripper can use metal material, to improve gripper
The performances such as hardness.Illustratively, the somatosensory device can shoot the image of the hand of the user by camera, and pass through
The modes such as image recognition judge the hand state in which of the user.
Optionally, first opposite position of the arm for obtaining user in real time by somatosensory device relative to the trunk of user
Confidence breath, comprising:
Obtain corresponding first space of default joint institute of the arm of the user in real time by the somatosensory device
Coordinate, and obtain second space coordinate corresponding to the trunk of the user；
The difference for calculating each first space coordinate and the second space coordinate, obtains the default pass of the arm
Section is respectively relative to the relative spatial co-ordinates of the trunk；
Correspondingly, the real-time control machinery arm is moved according to first relative position information, comprising:
According to the relative spatial co-ordinates, the movement of each axis joint of real-time control machinery arm, each axis joint
Correspond respectively to the default joint of arm.
The default joint of the arm of the user may include one in shoulder joint, elbow joint and wrist joint or more
A, the number in the default joint can be with the number of the axis joint of the mechanical arm and the move mode phase of the mechanical arm
It is corresponding, for example, there are three axis joints for mechanical arm tool, then three axis joints of the mechanical arm can be made to respectively correspond institute
State shoulder joint, elbow joint and the wrist joint on mechanical arm.
In the embodiment of the present invention, first relative position information can indicate shifting of the arm relative to trunk of user
It is dynamic, and the status information of the hand of the user can indicate that the hand of the user is to open or close etc., by real-time
Control mechanical arm is moved according to first relative position information, and real-time control is located at the machine of the end of the mechanical arm
Machinery claw executes corresponding with status information operation, can machinery by mechanical arm and positioned at the end of the mechanical arm
Pawl realizes Real-time Feedback to movements such as the arm of user and hands and interaction, and flexible operation is easy, user experience compared with
It is good, while operating efficiency is higher.The program can provide interacting activity for user, have stronger interest, practicability and
Ease for use is stronger.
On the basis of the above embodiments, Fig. 2 is the realization stream of Mechanical arm control method provided by Embodiment 2 of the present invention
Journey schematic diagram, the Mechanical arm control method as shown in Figure 2 may comprise steps of:
Step S201 detects the second relative position between user and the somatosensory device.
In the embodiment of the present invention, second relative position may include the opposite between the somatosensory device of user
Distance, relative bearing etc. etc. information.For example, can detecte between the left shoulder outermost of the user and the somatosensory device
Relative position between relative position and the right shoulder outermost and the somatosensory device of the user, to determine the body of user
Towards direction and the somatosensory device axis between angle etc..
Step S202, if second relative position indicates the distance between the user and the somatosensory device default
In distance range, and, the body of the user is towards the angle between the equipment of somatosensory device direction in predetermined angle
In range, then the first relative position information and hand of the arm of user relative to the trunk of user are obtained by somatosensory device in real time
The status information in portion.
In the embodiment of the present invention, the body of the user towards the body that can refer to user towards direction.If described
The body of user towards and the somatosensory device angle of the equipment between within the scope of predetermined angle, it may be considered that this
When user face the somatosensory device.And if the distance between the user and the somatosensory device be within the scope of pre-determined distance,
And the body of the user towards and the somatosensory device angle of the equipment between within the scope of predetermined angle, can be with
Think that the user faces the somatosensory device at this time and is closer with the somatosensory device, thus by the somatosensory device
The identification range of human body is limited in certain region, reduces the influence of other individuals.
Step S203, real-time control machinery arm is moved according to first relative position information, and real-time control position
Gripper in the end of the mechanical arm executes operation corresponding with the status information.
The present embodiment step S203 and above-mentioned steps S102 are same or similar, for details, reference can be made to step S102 associated description,
Details are not described herein.
It, can basis by the second relative position between detection user and the somatosensory device in the embodiment of the present invention
Second relative position, judge the user whether be in face of the somatosensory device and at a distance from the somatosensory device compared with
The states such as close improve the detection accuracy and reduction of somatosensory device to exclude the influence for other individuals that other are for example passed by
Unnecessary detection.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Fig. 3 is the schematic diagram for the manipulator control device that the embodiment of the present invention three provides.For ease of description, it illustrates only
Part related to the embodiment of the present invention.
The manipulator control device 300 includes:
Obtain module 301, for by somatosensory device obtain in real time the arm of user relative to user trunk first
Relative position information, and the status information of the hand of the user is obtained in real time；
Control module 302 is moved for real-time control machinery arm according to first relative position information, and in real time
The gripper that control is located at the end of the mechanical arm executes operation corresponding with the status information.
Optionally, the acquisition module 301 specifically includes:
First detection unit, for detecting the second relative position between user and the somatosensory device；
Second detection unit, if for second relative position indicate between the user and the somatosensory device away from
From within the scope of pre-determined distance, and, the body of the user towards and angle of the equipment between of the somatosensory device exist
Within the scope of predetermined angle, then the first relative position of the arm of user relative to the trunk of user is obtained by somatosensory device in real time
The status information of information and hand.
Optionally, the arm is right arm, and the hand is the right hand, and/or, the arm is left arm, the hand
Portion is left hand.
Optionally, the status information of the hand includes indicating that the hand is in clench fist state or open configuration:
Correspondingly, the control module 302 specifically includes:
First control unit, if indicating that the hand is in state of clenching fist for the status information, control is located at institute
The gripper for stating the end of mechanical arm executes closed procedure；
Second control unit, if indicating that the hand is in open configuration for the status information, control is located at institute
The gripper for stating the end of mechanical arm executes flaring operation.
Optionally, the acquisition module 301 specifically includes:
First acquisition unit is divided for obtaining the default joint of arm of the user in real time by the somatosensory device
Not corresponding first space coordinate, and obtain second space coordinate corresponding to the trunk of the user；
Second acquisition unit is obtained for calculating the difference of each first space coordinate and the second space coordinate
The relative spatial co-ordinates of the trunk are respectively relative to the default joint of the arm；
The control module 302 is specifically used for:
According to the relative spatial co-ordinates, the movement of each axis joint of real-time control machinery arm, each axis joint
Correspond respectively to the default joint of arm.
In the embodiment of the present invention, first relative position information can indicate shifting of the arm relative to trunk of user
It is dynamic, and the status information of the hand of the user can indicate that the hand of the user is to open or close etc., by real-time
Control mechanical arm is moved according to first relative position information, and real-time control is located at the machine of the end of the mechanical arm
Machinery claw executes corresponding with status information operation, can machinery by mechanical arm and positioned at the end of the mechanical arm
Pawl realizes Real-time Feedback to movements such as the arm of user and hands and interaction, and flexible operation is easy, user experience compared with
It is good, while operating efficiency is higher.The program can provide interacting activity for user, have stronger interest, practicability and
Ease for use is stronger.
Fig. 4 is the schematic diagram for the terminal device that the embodiment of the present invention four provides.As shown in figure 4, the terminal of the embodiment is set
Standby 4 include: processor 40, memory 41 and are stored in the meter that can be run in the memory 41 and on the processor 40
Calculation machine program 42.The terminal device can also include somatosensory device and/or mechanical arm, the somatosensory device and/or the machine
Tool arm is connect with processor coupling respectively.In addition, the somatosensory device and/or the mechanical arm can also be used as outside
Equipment is external in terminal device, the connection type and communication of the mechanical arm and/or the somatosensory device and the processor
Mode can be configured according to practical application scene, herein with no restrictions.
The processor 40 is realized when executing the computer program 42 in above-mentioned each Mechanical arm control method embodiment
The step of, such as step 101 shown in FIG. 1 is to 102.Alternatively, realization when the processor 40 executes the computer program 42
The function of each module/unit in above-mentioned each Installation practice, such as the function of module 301 to 302 shown in Fig. 3.
Illustratively, the computer program 42 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 41, and are executed by the processor 40, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 42 in the terminal device 4 is described.For example, the computer program 42 can be divided
It is cut into and obtains module, control module, each module concrete function is as follows:
Obtain module, for by somatosensory device obtain in real time the arm of user relative to user trunk it is first opposite
Location information, and the status information of the hand of the user is obtained in real time；
Control module is moved according to first relative position information for real-time control machinery arm, and is controlled in real time
The gripper that system is located at the end of the mechanical arm executes operation corresponding with the status information.
The terminal device 4 can be the calculating such as desktop PC, notebook, palm PC and cloud server and set
It is standby.The terminal device may include, but be not limited only to, processor 40, memory 41.It will be understood by those skilled in the art that Fig. 4
The only example of terminal device 4 does not constitute the restriction to terminal device 4, may include than illustrating more or fewer portions
Part perhaps combines certain components or different components, such as the terminal device can also include input-output equipment, net
Network access device, bus etc..
Alleged processor 40 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 41 can be the internal storage unit of the terminal device 4, such as the hard disk or interior of terminal device 4
It deposits.The memory 41 is also possible to the External memory equipment of the terminal device 4, such as be equipped on the terminal device 4
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, the memory 41 can also both include the storage inside list of the terminal device 4
Member also includes External memory equipment.The memory 41 is for storing needed for the computer program and the terminal device
Other programs and data.The memory 41 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Computer-readable Jie
Matter may include: can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk,
Magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions
Believe signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of Mechanical arm control method characterized by comprising
It obtains the first relative position information of the arm of user relative to the trunk of user in real time by somatosensory device, and obtains in real time
Take the status information of the hand of the user；
Real-time control machinery arm is moved according to first relative position information, and real-time control is located at the mechanical arm
The gripper of end executes operation corresponding with the status information.
2. Mechanical arm control method as described in claim 1, which is characterized in that described to obtain user in real time by somatosensory device
Arm relative to user trunk the first relative position information and hand status information, comprising:
Detect the second relative position between user and the somatosensory device；
If second relative position instruction the distance between the user and the somatosensory device within the scope of pre-determined distance,
And the angle between the body direction of the user and the equipment direction of the somatosensory device then leads within the scope of predetermined angle
It crosses somatosensory device and obtains the arm of user in real time relative to the first relative position information of the trunk of user and the state letter of hand
Breath.
3. Mechanical arm control method as described in claim 1, which is characterized in that the arm is right arm, and the hand is
The right hand, and/or, the arm is left arm, and the hand is left hand.
4. the Mechanical arm control method as described in claims 1 to 3 any one, which is characterized in that the state of the hand is believed
Breath includes indicating that the hand is in clench fist state or open configuration:
Correspondingly, the gripper execution that the real-time control is located at the end of the mechanical arm is corresponding with the status information
Operation, comprising:
If the status information indicates that the hand is in state of clenching fist, control is located at the gripper of the end of the mechanical arm
Execute closed procedure；
If the status information indicates that the hand is in open configuration, control is located at the gripper of the end of the mechanical arm
Execute flaring operation.
5. Mechanical arm control method as described in claims 1 to 3, which is characterized in that described to be obtained in real time by somatosensory device
First relative position information of the arm of user relative to the trunk of user, comprising:
Obtain corresponding first space coordinate of default joint institute of the arm of the user in real time by the somatosensory device,
And obtain second space coordinate corresponding to the trunk of the user；
The difference for calculating each first space coordinate and the second space coordinate obtains the default joint point of the arm
Relative spatial co-ordinates not relative to the trunk；
Correspondingly, the real-time control machinery arm is moved according to first relative position information, comprising:
According to the relative spatial co-ordinates, the movement of each axis joint of real-time control machinery arm, each axis joint difference
Default joint corresponding to arm.
6. a kind of manipulator control device characterized by comprising
Module is obtained, for obtaining the first relative position of the arm of user relative to the trunk of user in real time by somatosensory device
Information, and the status information of the hand of the user is obtained in real time；
Control module is moved for real-time control machinery arm according to first relative position information, and real-time control position
Gripper in the end of the mechanical arm executes operation corresponding with the status information.
7. manipulator control device as claimed in claim 6, which is characterized in that the status information of the hand includes instruction institute
It states hand and is in clench fist state or open configuration:
Correspondingly, the control module specifically includes:
First control unit, if indicating that the hand is in state of clenching fist for the status information, control is located at the machine
The gripper of the end of tool arm executes closed procedure；
Second control unit, if indicating that the hand is in open configuration for the status information, control is located at the machine
The gripper of the end of tool arm executes flaring operation.
8. manipulator control device as claimed in claim 6, which is characterized in that the acquisition module specifically includes:
First acquisition unit is right respectively for obtaining the default joint institute of arm of the user in real time by the somatosensory device
The first space coordinate answered, and obtain second space coordinate corresponding to the trunk of the user；
Second acquisition unit obtains institute for calculating the difference of each first space coordinate and the second space coordinate
The default joint for stating arm is respectively relative to the relative spatial co-ordinates of the trunk；
The control module is specifically used for:
According to the relative spatial co-ordinates, the movement of each axis joint of real-time control machinery arm, each axis joint difference
Default joint corresponding to arm.
9. a kind of terminal device, which is characterized in that in the memory and can be in institute including mechanical arm, processor and storage
The computer program run on processor is stated, the mechanical arm can be connect with coupling with the processor, and the processor is held
It is realized when the row computer program as described in any one of claim 1 to 5 the step of Mechanical arm control method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In the step of realization Mechanical arm control method as described in any one of claim 1 to 5 when the computer program is executed by processor
Suddenly.
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