CN104108097A - Feeding and discharging mechanical arm system based on gesture control - Google Patents
Feeding and discharging mechanical arm system based on gesture control Download PDFInfo
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- CN104108097A CN104108097A CN201410288084.3A CN201410288084A CN104108097A CN 104108097 A CN104108097 A CN 104108097A CN 201410288084 A CN201410288084 A CN 201410288084A CN 104108097 A CN104108097 A CN 104108097A
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- steering wheel
- arduino
- feeding
- kinect
- gesture control
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Abstract
The invention relates to the field of mechanical control, in particular to a feeding and discharging mechanical arm system based on gesture control. The feeding and discharging mechanical arm system comprises Kinect, a computer, Arduino and steering devices, wherein the Kinect, the computer, the Arduino and the steering devices are sequentially connected. The Kinect is connected with the Arduino. The steering devices comprise the first steering device, the second steering device, the third steering device, the fourth steering device and the fifth steering device. The feeding and discharging mechanical arm system based on gesture control can be used for flexibly controlling a mechanical arm, and is good in stability and convenient to operate.
Description
Technical field
The present invention relates to mechanical control field, be specifically related to the feeding-blanking manipulator system based on gesture control.
Technical background
Gesture control just in flourish modern control mode, has the features such as simple and direct-viewing operation, flexibility is high, science and technology sense is strong as a kind of.Three Degree Of Freedom delta manipulator has the advantages such as rigidity is large, precision is high, bearing capacity is strong, and its application almost relates to the every field of modern sophisticated technology.Loading and unloading manipulator based on gesture control is the compunication advanced by comprehensive employing, the human body attitude identification of Kinect and data processing and the transmission technology of Arduino, gesture control is combined with Delta manipulator, identify attitude and the position of gesture by Kinect, by data by computer transmission to Arduino, Arduino for controlling the angle of five steering wheel rotations, reaches the movement of control Delta manipulator, the effect of crawl by data after treatment.In modern factories, common Delta manipulator is widely used in the accurate operations such as Laser Processing, microelectronics assembling, cell micromanipulation, fiber alignment, these fields are very high to required precision, need expert engineer to carry out accurate calculating and programming but want to change its movement locus, concerning ordinary people, difficulty is very large; And the manipulator of remote control not only can not complete fine-limit work but also control dumb.
Summary of the invention
In order to address the above problem, to the invention provides one and can control flexibly manipulator, have good stability, the feeding-blanking manipulator system based on gesture control of convenient operation.
The present invention is based on the feeding-blanking manipulator system of gesture control, draw together be connected successively Kinect, computer, Arduino, steering wheel; Described Kinect is connected with Arduino, and described steering wheel comprises the first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel, the 5th steering wheel.
Preferably, feeding-blanking manipulator system based on gesture control comprises a Delta robot being connected with steering wheel, it is characterized in that described Delta robot comprises moving platform and silent flatform, silent flatform is connected with moving platform by connected successively master arm, universal joint, slave arm, moving platform connector, and described slave arm is the driven side chain of parallelogram.
The present invention can control flexibly manipulator, have good stability, convenient operation.
Detailed description of the invention
The present invention is based on the feeding-blanking manipulator system of gesture control, comprise be connected successively Kinect, computer, Arduino, steering wheel; Described Kinect is connected with Arduino, described steering wheel comprises the first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel, the 5th steering wheel, feeding-blanking manipulator system based on gesture control also comprises a Delta robot being connected with steering wheel, it is characterized in that described Delta robot comprises moving platform and silent flatform, silent flatform is connected with moving platform by connected successively master arm, universal joint, slave arm, moving platform connector, and described slave arm is the driven side chain of parallelogram.Start computer, in the program input Arduino of Arduino, open the programming software Processing of Kinect,, will there is the simulation drawing of robot movement in computer screen in the Kinect program finished of operation, Processing also can hold the transfer of data of each steering wheel to Arduino simultaneously, Arduino will control the angle of five steering wheels after data processing, wherein three steering wheels are fixed on moving platform, for controlling the angle of mechanical arm, and then the position of control moving platform; One of them steering wheel is arranged on moving platform, for controlling the rotation of gripper; Also has one for controlling closing up and opening of gripper.
Hardware master-plan
The design adopts the hardware such as Arduino single-chip microcomputer, Kinect (X-BOX360), steering wheel, computer, Delta manipulator to carry out practical function.Overall system function is as follows: (1) connects computer and Arduino, and program is write to Arduino.Connect Arduino and 5 steering wheels, and connect the power supply of " 5v.15A " to arduino.(2) Kinect is placed on manipulator below, connects Kinect and computer, and connects the domestic power supply of 220V to Kinect.Open Pmcessing, operation corresponding program.(3) place of Kinect front 1.5m left and right, aims at Kinect and stretches out palm and open, and waits for that Kinect completes identification.
Single-chip computer control system design
The design adopts Arduino single-chip microcomputer, be a convenient flexibly, facilitate the electronics Prototyping Platform of increasing income of left-hand seat, programme with its special programming software, instruction code is similar to c language, but simpler than c language, simplify some unnecessary definition. have powerful function library.
Program master-plan
Program is divided into Arduino part and Processing part, wherein Processing drives Kinect to carry out gesture perception, movement by gesture, tilt, close up calculate the position data of each steering wheel and transfer to Arduino, Arduino transfers to each steering wheel after data processing.
Processing program
(1) hand induction.Utilize the infrared reflection measurement space degree of depth, common camera obtains coloured image.Rely on opengl in Processing, the database such as simple kowtows enni, Kinectorbit. reach detection staff, identification gesture.
import?processing.open91.;
imporl?SimpleopenNI.;
impnrt?kinectorbit.Kinectorhit;
(2) gesture control.The point cloud that extracts hand, draws a cuboid, moves and mobile with hand, and in the time that hand tilts, cuboid, along with inclination, changes with Plane Angle, controls the rotation of mechanical arm grabber.In the time that hand opens or holds with a firm grip, the personal attendant's of cuboid elongated or shortening, controls mechanical arm and captures.
Arduino program
The program that Arduino control steering wheel is used is
Void?updateServo(int?pin,int?pulse)
{
digitalWrite(pin,HIGH);
delayMiroseconds(pulse);
digital?Write(pin,LOW);
}
This subprogram is inputted the microsecond number of pwm value in corresponding steering wheel: the steering wheel of pin pin is adjusted to high level, uses delayMicroseconds (), and time out program pulse millisecond, and then get back to low level.Judge whether that by following program operation: uns trains ned long currentMillis=millis ();
if(currentMillis—previousMiUis>interval){
previousMillis=currentMillis;
The calculation procedure that act as of millis () runs to the time while now beginning from program, its assignment is arrived to currentMillis, in if statement, judge whether present millisecond number is greater than interval apart from the millisecond number of last time operation, if fruit is greater than interval millisecond, start the transfer of data of steering wheel to steering wheel, and the time of now program operation is recorded in to previousMillis, for circulation next time.This condition has ensured a steering wheel position of intenral millisecond change at the most of manipulator, has avoided because of the minor variations of effector's hand
The unnecessary shake causing.Interval is in the beginning definition of program.
Serial communication
If Kinect has recognized gesture, send " x " signal by Pmcessing, Arduino receives the position data that starts five steering wheels of reception of data after " x " signal.Once can only transmit 1 byte due in the communicating by letter of Arduino and Processing, therefore first the Data Division of 16 be become to two 8 at Processing end here and transmit, then at Arduino end, two 8 bit combinations are got up.
Because serial ports output in Processing is restricted, can not transmit the data that exceed a byte.But the data of coordinates transmission exceed a byte.So utilize bit manipulation, the decimal system be converted into hexadecimal.Making coordinate be divided into 8 transmits.
As:
byte?MSB=(byte)((seriaIAngle>>8)&0xFF);
byte?LSB=(byte)(serialAngle&0xFF);
myPon.write(MSB);
myPort.write(LSB);
The data of serialAngle representative are converted into hexadecimal, are divided into two outputs.
Claims (2)
1. the feeding-blanking manipulator system based on gesture control, comprises be connected successively Kinect, computer, Arduino, steering wheel; It is characterized in that described Kinect is connected with Arduino, described steering wheel comprises the first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel, the 5th steering wheel.
2. the feeding-blanking manipulator system based on gesture control as claimed in claim 1, also comprise a Delta robot being connected with steering wheel, it is characterized in that described Delta robot comprises moving platform and silent flatform, silent flatform is connected with moving platform by connected successively master arm, universal joint, slave arm, moving platform connector, and described slave arm is the driven side chain of parallelogram.
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CN201410288084.3A CN104108097A (en) | 2014-06-25 | 2014-06-25 | Feeding and discharging mechanical arm system based on gesture control |
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CN201410288084.3A CN104108097A (en) | 2014-06-25 | 2014-06-25 | Feeding and discharging mechanical arm system based on gesture control |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104700403A (en) * | 2015-02-11 | 2015-06-10 | 中国矿业大学 | System and method for virtually demonstrating gesture control of hydraulic bracket based on kinect |
CN104970754A (en) * | 2015-06-25 | 2015-10-14 | 云南电网有限责任公司电力科学研究院 | Method for controlling endoscope optical fiber on basis of Kinect sensor gestures |
CN107030692A (en) * | 2017-03-28 | 2017-08-11 | 浙江大学 | One kind is based on the enhanced manipulator teleoperation method of perception and system |
CN108127673A (en) * | 2017-12-18 | 2018-06-08 | 东南大学 | A kind of contactless robot man-machine interactive system based on Multi-sensor Fusion |
CN114083544A (en) * | 2022-01-21 | 2022-02-25 | 成都市皓煊光电新材料科技研发中心有限公司 | Method and device for controlling movement of hand-shaped equipment, hand-shaped equipment and storage medium |
-
2014
- 2014-06-25 CN CN201410288084.3A patent/CN104108097A/en active Pending
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104700403A (en) * | 2015-02-11 | 2015-06-10 | 中国矿业大学 | System and method for virtually demonstrating gesture control of hydraulic bracket based on kinect |
CN104970754A (en) * | 2015-06-25 | 2015-10-14 | 云南电网有限责任公司电力科学研究院 | Method for controlling endoscope optical fiber on basis of Kinect sensor gestures |
CN104970754B (en) * | 2015-06-25 | 2016-09-28 | 云南电网有限责任公司电力科学研究院 | A kind of method controlling endoscope's optical fiber based on Kinect sensor gesture |
CN107030692A (en) * | 2017-03-28 | 2017-08-11 | 浙江大学 | One kind is based on the enhanced manipulator teleoperation method of perception and system |
CN108127673A (en) * | 2017-12-18 | 2018-06-08 | 东南大学 | A kind of contactless robot man-machine interactive system based on Multi-sensor Fusion |
CN114083544A (en) * | 2022-01-21 | 2022-02-25 | 成都市皓煊光电新材料科技研发中心有限公司 | Method and device for controlling movement of hand-shaped equipment, hand-shaped equipment and storage medium |
CN114083544B (en) * | 2022-01-21 | 2022-04-12 | 成都市皓煊光电新材料科技研发中心有限公司 | Method and device for controlling movement of hand-shaped equipment, hand-shaped equipment and storage medium |
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