CN109814432A - A kind of the communication frame generating method and communication means of human body servo antrol - Google Patents

Abstract

The present invention relates to a kind of communication frame generating method of human body servo antrol and communication means, belong to robotic technology field.The communication frame generating method includes: the end mark for generating opening flag and communication frame end that instruction communication frame starts for the communication frame that human body servo antrol generates communication equipment；The information that the communication equipment can be arbitrarily arranged is generated, the information includes the device code for representing host computer；The data information that the communication equipment can not be arbitrarily arranged is generated, the data information successively includes data length, control data and check bit；The communication frame is constituted by successively combining the opening flag, the information that can be arbitrarily arranged, the data information that can not be arbitrarily arranged and the end mark.Present invention reduces multidimensional telepresenc operating delay, solve the problems, such as that the prior art controls the method for Teleoperation Systems servo antrol there are still real-time and precise is unable to reach.

Description

A kind of the communication frame generating method and communication means of human body servo antrol

Technical field

The present invention relates to human body servo antrols in robotic technology field more particularly to telepresenc Teleoperation Systems Communication frame generating method and communication means.

Background technique

Multidimensional telepresenc robot manipulation's technology based on human body wearing servo antrol is the main of current robot development One of hot spot conducive to industrialization is realized in a relatively short period of time, therefore is also one following since it is closer away from functionization One of important trend for stage robotics development.The machine closest to human behavior is provided for operator due to it Device people's platform, thus can play a significant role more multi-field.Multidimensional telepresenc remote operating Mechatronic Systems technology, can be widely applied In military, aerospace industry and the civilian neck such as prominent, aircraft in-orbit service, space flight ground particular job, Military Application at anti-terrorism Domain.

Multidimensional telepresenc remote operating Mechatronic Systems is the machine with man-machine coordination ability to work in a kind of " people is in circuit " People's system carries out robot control using diversification man-machine interaction mode, while realizing strange land environment sensing, is based on man-machine coordination Flexibly support diversified task execution, i.e. the logical thinking judgement by the mankind and adaptability to changes and robot environment is adaptable The characteristics of organically blend, then by servo antrol, live sound, 3D scene, tactile, power feel multidimensional information feedback combine. The system not only can effectively solve the problems, such as that practical application was also not achieved in current intelligent robot system, but also than traditional rocking bar, plate The Teleoperation Systems of the manipulations such as computer have higher operating efficiency and intelligent level, are the following period machines People's systematic research hot spot.But currently available technology is for the method for multidimensional telepresenc Teleoperation Systems servo antrol There are still be unable to reach real-time and precise control.

Summary of the invention

In view of above-mentioned analysis, the embodiment of the present invention is intended to provide the communication frame generating method of a kind of human body servo antrol and logical Letter method, by the Construction designing of the communication frame format of human body servo antrol, so that communication can transmit multiple joints glibly The control information of angle realizes the servo antrol of system real-time and precise.

The embodiment of the invention provides a kind of communication frame generating methods, generate communication equipment for human body servo antrol Communication frame includes: the end mark for generating opening flag and communication frame end that instruction communication frame starts；The communication is generated to set The standby information that can be arbitrarily arranged, the information includes the device code for representing host computer；Generating the communication equipment can not be any The data information of setting, the data information successively include data length, control data and check bit；It is described by successively combining Opening flag, the information that can be arbitrarily arranged, the data information that can not be arbitrarily arranged and the end mark constitute institute State communication frame.

Further, the opening flag includes frame head I and frame head II；Wherein, the code setting of 1 byte of the frame head I Code for 1A, 1 byte of the frame head II is set as FA；The end mark includes postamble I and postamble II；Wherein, described The code of 1 byte of postamble I is set as 0D, and the code of 1 byte of the postamble II is set as 0A.

Further, the code that the device code represents 1 byte of host computer is set as 01.

Further, it is described control data successively include 3 freedom degrees of waist, 3 freedom degrees of neck, each arm 6 A freedom degree, 5 freedom degrees of each hand, each freedom degree use 1 byte information；The data length is to control described in a frame The length of data processed, using the field LEN of 1 byte, code is set as 1C；The setting of the check bit takes each data byte Minimum bit byte after adduction, 32 bytes, 1 byte of 1 byte, frame head II including frame head I are set the data byte in total 1 byte, 1 byte of data length and 28 bytes for controlling data of standby code.

Further, the field of 3 byte informations of the waist successively include waist course WAT-Y, waist pitching WAT-P, Waist roll WAT-R, the field of 3 byte informations of the neck successively include neck course NECK-Y, neck pitching NECK-P, Neck roll NECK-R, the field of 6 byte informations of left arm are ARM-L, and the field of 6 byte informations of right arm is ARM-R, left hand The fields of 5 byte informations be HAND-L, the fields of 5 byte informations of the right hand is HAND-R.

Above-mentioned technical proposal has the beneficial effect that: the invention discloses a kind of communication frame generating method, for human body with The communication frame that dynamic control generates communication equipment includes: the knot for generating opening flag and communication frame end that instruction communication frame starts Bundle flag；The information that the communication equipment can be arbitrarily arranged is generated, the information includes the device code for representing host computer；It generates The data information that the communication equipment can not be arbitrarily arranged, the data information successively include data length, control data and school Test position；By successively combining the opening flag, the information that can be arbitrarily arranged, the data information that can not be arbitrarily arranged The communication frame is constituted with the end mark.The present invention efficiently solves the prior art for multidimensional telepresenc remote operating machine The method of people's system servo antrol there are still be unable to reach real-time and precise control the problem of.

In another embodiment based on above-mentioned communication frame, the communication means of human body servo antrol is the following steps are included: adopt The human body of collection operator is servo-actuated control action and obtains the continuous data frame of continuous action data generation；By the data frame transfer It carries out generating the communication frame after data re-map processing to host computer；The computer communication frame being sent in robot System control machine device people executes corresponding continuous action.

Further, the control action is acquired by being worn on the motion capture equipment with operator；The movement It captures equipment and the continuous action data of acquisition is generated into continuous data frame transfer to host computer.

Further, the continuous data frame includes 28 joint data of operator's whole body；The software of the host computer The collected joint data are subjected to analog-to-digital conversion, and call bus interface that the control data in each group joint are sent to number Conduct electricity platform；The control data are wirelessly sent to both arms personification with 20 to 60 frame rate per second by the data radio station The computer system of robot, so that robot executes corresponding continuous action.

Further, the both arms anthropomorphic robot includes that whole body amounts to 28 electronic joints, is carried out using 28 road pwm signals Control；28 road pwm signal includes 3 road PWM of 3DOF waist, 3 road PWM of 3DOF neck gesture stability, 6 freedom Spend 5 tunnels of the 6 road PWM of mechanical arm I, the 6 road PWM of 6DOF mechanical arm II, the 5 road PWM of 5 finger Dextrous Hand I, 5 finger Dextrous Hand II PWM。

Further, 28 electronic joints of the both arms anthropomorphic robot are also controlled using the digital signal of angular values System；The 28 road angular values signal includes 3 tunnels of 3 road angular values of 3DOF waist, 3DOF neck gesture stability Angular values, the 6 road angular values of 6DOF mechanical arm I, the 6 road angular values of 6DOF mechanical arm II, 5 refer to Dextrous Hand I 5 road angular values, 5 refer to Dextrous Hand II 5 road angular values.

It in the present invention, can also be combined with each other between above-mentioned each technical solution, to realize more preferred assembled schemes.This Other feature and advantage of invention will illustrate in the following description, also, certain advantages can become from specification it is aobvious and It is clear to, or understand through the implementation of the invention.The objectives and other advantages of the invention can by specification, claims with And it is achieved and obtained in specifically noted content in attached drawing.

Detailed description of the invention

Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing In, identical reference symbol indicates identical component.

Fig. 1 is operator provided in an embodiment of the present invention schematic diagram corresponding with robot bone node and freedom degree；

Fig. 2 is a kind of composition schematic diagram of communication frame format provided in an embodiment of the present invention；

Fig. 3 is the flow chart of the communication means of human body servo antrol provided in an embodiment of the present invention；

Fig. 4 is that one provided in an embodiment of the present invention complete system telepresenc postpones schematic diagram.

Specific embodiment

Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and Together with embodiments of the present invention for illustrating the principle of the present invention, it is not intended to limit the scope of the present invention.

The technical concept of the embodiment of the present invention is: the movement of inertia node Posture acquisition in the console based on human body wearing Mapping techniques are captured and acted, operator's whole body 30 or more joint data can be obtained, and by it with standard bone BVH The data of file format are exported, and key node data therein are carried out screening proposition, and control by data communication Method be mapped in robot, to realize control to robot.The servo antrol of both arms anthropomorphic robot is entire machine Device people's system command executes and the direct and final embodiment of data flowing, and the precision and real-time of movement directly affect system and appoint The integrality executed of being engaged in and efficiency and no one of the main characterization for meeting mission requirements of whole system performance.And it realizes accurate The premise of servo antrol is that the bone topological structure of the motion capture equipment of operator's wearing is identical as robot.Such as Fig. 1 institute Show, left side is a kind of human body left arm freedom degree commonly zoned format, and right side is the signal of robot model's mechanical arm freedom degree, is built Freedom degree is in one-to-one relationship both in mould, and the artis freedom degree such as right arm and waist neck is defined as above.

A specific embodiment of the invention, a kind of communication frame generating method generate communication for human body servo antrol and set Spare communication frame includes: the end mark for generating opening flag and communication frame end that instruction communication frame starts；Described in generation The information that communication equipment can be arbitrarily arranged, the information include the device code for representing host computer；Generate the communication equipment not The data information that can be arbitrarily arranged, the data information successively include data length, control data and check bit；Pass through successively group Close the opening flag, the information that can be arbitrarily arranged, the data information that can not be arbitrarily arranged and the end mark Constitute the communication frame.Compared with prior art, it by the Construction designing of the communication frame format of human body servo antrol, is effectively reduced Telepresenc manipulation delay, realizes the servo antrol of Teleoperation Systems real-time and precise.

Fig. 2 is a kind of composition schematic diagram of communication frame format of the invention.

A specific embodiment of the invention, as shown in Fig. 2, the opening flag includes frame head I and frame head II；Wherein, The code of 1 byte of the frame head I is set as 1A, and the code of 1 byte of the frame head II is set as FA；The end mark packet Include postamble I and postamble II；Wherein, the code of 1 byte of the postamble I is set as 0D, and the code of 1 byte of the postamble II is set It is set to 0A.

It should be noted that frame head uses 1AFA in practical application, it is according to representatives such as WAT, NECK, ARM and HAND What motor control data range determined, the purpose of setting is the beginning in order to identify a frame partial data in communication process, and Postamble uses 0D0A, in order to the end of a frame partial data is identified in communication process.Motor control data characterization is each Freedom degree motion value, size are that have a certain range section, and 1AFA and 0D0A do not appear in WAT, NECK, ARM and HAND Deng in any two adjacent byte in 28 bytes continuously constituted, that is, because the above motor control data numberical range limits, In robot system is operated normally and executed, the adjacent motor control data of any two is not in 1AFA and 0D0A.Using 1AFA is as frame head and 0D0A as postamble, and in communication process, the interception of data frame will not occur from WAT, NECK, ARM And beginning and end in 28 byte motor control datas continuously constituting such as HAND, the discrimination of data frame can be effectively improved, And then communication system execution efficiency is improved, the transmission of erroneous frame is reduced, to be conducive to low delay, the transmission of high-precision data needs It asks.

A specific embodiment of the invention, as shown in Fig. 2, the device code represents the code of 1 byte of host computer It is set as 01.That is, the effect that this gives host computers in communication process, after system is in place, operator Continuous action is issued according to task object, motion capture equipment captures the continuous action data of operator, forms continuous data Frame, and sequential delivery gives and has the host computer of the ability of re-mapping, host computer processing unit is by received every frame data smothing filtering After processing, carry out generating new data frame namely communication frame of the invention after data re-map processing.It is used in actual design scheme The upper computer software that Labview builds acquisition and data are sent, to assess data processing time, assessment result is shown at data Managing the time is about 10.6ms.

A specific embodiment of the invention, as shown in Fig. 2, it is described control data successively include waist 3 freedom degrees, 3 freedom degrees, 6 freedom degrees of each arm, 5 freedom degrees of each hand of neck, each freedom degree use 1 byte information； The data length is the length that data are controlled described in a frame, and using the field LEN of 1 byte, code is set as 1C；The school The setting for testing position takes the minimum bit byte after the adduction of each data byte, the data byte 32 bytes, including frame in total 1 byte, 1 byte of frame head II, 1 byte of device code, 1 byte of data length and 28 bytes for controlling data of head I.

It should be noted that from figure 2 it can be seen that movement posture control occupies 28 bytes, in addition frame head, data are long Spend position, check bit, total 35 bytes of postamble.A total frame data 280bit, it is contemplated that when bottom hardware is sent, will increase Beginning position, the function digits such as stop position therefore transmitted with a frame data 400bit so that communication can transmit glibly it is multiple The control information of joint angles.

A specific embodiment of the invention, as shown in Fig. 2, the field of 3 byte informations of the waist successively includes waist Portion course WAT-Y, waist pitching WAT-P, waist roll WAT-R, the field of 3 byte informations of the neck successively includes neck Course NECK-Y, neck pitching NECK-P, neck roll NECK-R, the fields of 6 byte informations of left arm are ARM-L, the 6 of right arm The field of byte information is ARM-R, and the field of 5 byte informations of left hand is HAND-L, and the field of 5 byte informations of the right hand is HAND-R。

It should be noted that above WAT, NECK, ARM and HAND motor control data characterizes the movement shape of each freedom degree State and angular values, size are that have a certain range section, according to configuration and control needs, waist, neck, both arms and double The control numberical range in each joint of hand is different.

Referring to fig. 2, and table one is combined, it is known that, the composition of communication data frame format of the invention includes the frame head of 2 bytes Field 1AFA, the data length field LEN of 01,1 byte of device code field of 1 byte, the waist of 3 bytes control number According to field WAT, the neck control data field NECK of 3 bytes, the both arms of 12 bytes control data field ARM, 10 words The both hands of section control data field HAND, verification the bit field SUM, the postamble field 0D0A of 2 bytes of 1 byte.

Table one

Fig. 3 is the flow chart of the communication means of human body servo antrol of the invention.

A specific embodiment of the invention, as shown in figure 3, the communication means of human body servo antrol the following steps are included:

S301, the human body for acquiring operator are servo-actuated control action and obtain the continuous data frame of continuous action data generation；

S302 carries out the data frame transfer to host computer to generate the communication frame after data re-map processing；

The communication frame is sent to the computer system control robot in robot and executes continuous accordingly move by S303 Make.

The communication means of human body servo antrol disclosed by the invention includes the servo-actuated control action of human body for acquiring operator It obtains continuous action data and generates continuous data frame；After the data frame transfer is re-mapped processing to host computer progress data Generate the communication frame；It is corresponding continuous that the communication frame is sent to the execution of the computer system control robot in robot Movement.Compared with prior art, the embodiment of the present invention efficiently solves the prior art for multidimensional telepresenc teleoperation robot The method of system servo antrol there are still be unable to reach real-time and precise control the problem of.

It should be noted that capture operator human action and mapping be restored to passive robot, it is desirable that robot Movement is accurate and has real-time to meet mission requirements.Since mankind itself is very familiar for human action, anthropomorphic machine The movement deviation of people is easy to be found and adjusted in real time by remote operating personnel.But utilize the exercise data of motion capture equipment capture Can only be directly applied to on former manipulator's bone topological structure having the same and the robot of identical bone length, such as The bone topological structure or bone length of fruit robot are different from operator, and directly mapping is then easy to violate operator Intrinsic kinetic property in movement leads to robot motion metamorphopsic distortion, inaccurate etc..Therefore it is reflected again by the movement of host computer The technology of penetrating is solved when operator's bone and the not quite identical bring of robot bone potentially act distortion.In order to make to intend The control of robot human action has higher robustness, and meets different building shape operator and different task demand, using people It is motor-driven to re-map technology, and make it is this re-map have the characteristics that high-precision and it is real-time.That is, the exercise data of Direct Acquisition Carry out data and re-map processing, and will re-map handle after the communication frame that generates pass through wireless data link in real time and be sent to both arms Computer system in anthropomorphic robot, and action signal is issued from computer system to robot, robot receives movement number Movement is executed according to frame.So circulation, continuous multiple frames data concatenation forms a motion segments, until task terminates.

It should also be noted that, computer system is the core part of both arms anthropomorphic robot's electric-control system, it is mainly responsible for The functions such as data distribution, data processing.Computer system is operator's thinking and consciousness in robot " mirror image ".This is System mainly by core processor, coprocessor, communication interface modules, navigation positioning module, data-interface, power conversion module, Bus interface and software systems operating system composition.The processor of computer system platform is divided at core processor and execution Two pieces of device of reason, wherein core processor is responsible for realizing data receiver, data storage, navigation positioning data processing, itself posture number According to functions such as processing, bus scheduling, video processing；It executes processor and is responsible for anthropomorphic robot's mechanical arm, waist, neck, dexterity The specific manipulation of hand and force feedback analog data collection.Core processor and execute processor between reserved CAN bus, 485 buses and UART communication interface, to realize the data interaction between two pieces of processors.

A specific embodiment of the invention, the control action are set by being worn on the motion capture with operator Standby acquisition；The continuous action data of acquisition are generated continuous data frame transfer to host computer by the motion capture equipment.Also It is to say, the characteristics of multidimensional telepresenc remote operating Mechatronic Systems is the movement that can complete posture same as operator, this function Can be acquired by being worn on the motion capture equipment with operator.

It should be noted that wearable motion capture equipment is widely used in the industries such as video display, animation at present, to adopting It is not high to collect required precision.In addition, traditional motion capture equipment is due to being not intended to control robot, it is not closed loop Control equipment.Only be able to achieve simple gesture stability using traditional motion capture equipment, controllers be but unable to get by The mechanics telepresenc information such as touching, grasping, dynamics of man-controlled mobile robot.Therefore, for both arms anthropomorphic robot has low prolong Slow high-precision gesture follow-up, be by the man-machine design for re-mapping technology and the anthropomorphic executing agency of high-precision only it is inadequate, also It needs that there is high-precision motion control to be just able to satisfy related request.

A specific embodiment of the invention, the continuous data frame include 28 joint data of operator's whole body； The collected joint data are carried out analog-to-digital conversion by the software of the host computer, and call bus interface by each group joint Control data are sent to data radio station；The data radio station is wirelessly by the control data with 20 to 60 frame speed per second Rate is sent to the computer system of both arms anthropomorphic robot, so that robot executes corresponding continuous action.In practical application, this The remote control system host computer of embodiment is designed using Labview software, which can directly and USB-6218 It is interconnected, without developing capture card bottom layer driving, the collected data of USB-6218 can be carried out modulus by upper computer software Conversion, and call 485 bus interface that the control signal data in each group joint is sent to data radio station.

It should be noted that issuing from the operational order of operator, the too long meeting of the delay of operating effect is observed to it It is low equally to will cause operation timeliness for the telepresenc effect for seriously affecting whole system.Existing data shows to be no more than The telepresenc operating delay of 200ms is the receivable range of operator, and the telepresenc delay of 200ms or more can make operator It is clearly felt that its behavior is affected.Telepresenc as previously described and shown in Figure 4 postpones schematic diagram, according to of the invention real A frame data 400bit of example is applied to calculate, then data transmission time are as follows: 400bit/115200bps ≈ 3.5ms wherein, 115200 be sending port baud rate.After data are sent to data radio station, data radio station will be sent to by transmitting antenna Into the computer system of both arms anthropomorphic robot.The data processing time that the AS61-DTU30 data radio station actually selected provides < 5ms, air speed 70Kbps, it is possible thereby to which it is total to calculate launch time and in-flight time are as follows: 5ms+400bit/70Kbps= 10.7ms；In view of both arms anthropomorphic robot's electric-control system computer needs to repeat the above steps when receiving, therefore can obtain Out, entire data transmission period are as follows: 2 × (data transmission/receiving time (3.5ms)+radio station processing data time (5ms))+empty Middle time (10.7ms)=27.7ms.After completing data sampling and processing and sending, both arms anthropomorphic robot's electric-control system The coprocessor of computer is directly handled above-mentioned data, which is 200MHz, converts 1 for above-mentioned data The pulsewidth of~2ms is exported, and usual coprocessor uses the counting interval of 0.5us, therefore the data that its data variation is primary The processing time is up to 4ms.In summary, it can be deduced that manipulation delay of the invention is about are as follows: usb data capture card acquisition time (32us)+remote operating host computer handles time (10.6ms)+data transmission period (27.7ms)+robot electric-control system computer Time 4ms is handled, about 43ms is added up to.It can be seen that from above-mentioned calculating this invention greatly reduces manipulation delay, taken Technical solution can satisfy the requirement of manipulation delay < 50ms.

A specific embodiment of the invention, the both arms anthropomorphic robot include that whole body amounts to 28 electronic joints, are made It is controlled with 28 road pwm signals.That is, needing to make since both arms anthropomorphic robot's whole body amounts to 28 electronic joints It is controlled with 28 road pwm signals, which, which controls signal at remote operating end, is acquired in the form of analog quantity, because The data collecting card USB-6218 of NI company is directly selected in this application to complete the acquisition of the data of model signals, data acquisition Card has 32 tunnel analog input channels, and resolution ratio is 16, and sample rate reaches as high as 400ks/s, a sampling time 32us, For the accuracy for guaranteeing robot electric joint motions, the angle information of each electronic joint freedom degrees is needed using a byte It indicates, therefore, which is fully able to meet application demand of the invention.

A specific embodiment of the invention, 28 road pwm signal include 3 road PWM, the 3DOF of 3DOF waist 3 road PWM of neck gesture stability, the 6 road PWM of 6DOF mechanical arm I, the 6 road PWM of 6DOF mechanical arm II, 5 refer to Dextrous Hand The 5 road PWM of the 5 road PWM of I, 5 finger Dextrous Hand II.That is, the embodiment of the present invention realizes the distribution of robot control resource, machine The control resource allocation of related executing agency is shown in Table two in device people:

Table two

Serial number	Title	Resource
			1	3DOF waist	3 road PWM
2	Neck gesture stability	3 road PWM
			3	6DOF mechanical arm I	6 road PWM
4	6DOF mechanical arm II	6 road PWM
			5	5 refer to Dextrous Hand I	5 road PWM
6	5 refer to Dextrous Hand II	5 road PWM

It should be noted that robot control resource is mainly allocated by the execution processor of computer system, in addition to Outside the interfaces such as basic internal communication, power supply, crystal oscillator, debugging, remaining I/O is drawn by external connector.Department of computer science The control resource allocation for uniting external can be compatible with not since I/O mouthfuls of computer system control can carry out multiplexing functions Same control model, is controlled by bus, so that the distribution of control resource is provided with stronger flexibility, convenient for being Subsequent expansion of uniting upgrading.

28 electronic joints of a specific embodiment of the invention, the both arms anthropomorphic robot also use angular values Digital signal controlled；The 28 road angular values signal includes 3 road angular values, the 3DOF neck of 3DOF waist 6 tunnel angles of 3 road angular values of portion's gesture stability, the 6 road angular values of 6DOF mechanical arm I, 6DOF mechanical arm II Numerical value, 5 refer to that the 5 road angular values of Dextrous Hand I, 5 refer to the 5 road angular values of Dextrous Hand II.

It should be noted that the executing agency of entire anthropomorphic robot shares 28 freedom degrees, each freedom degree is by one Motor execution.The associated drive motor of executing agency namely passes through angular values by respectively needing the angle turned over to rotate Digital signal controlled, and executing agency's any attitude positioning time design objective be no more than 1 second.So-called any attitude Positioning time just refers to that (ergonomically, the time of mankind's regular event is usually 1 when operator makes a certain posture Second or more), the associated drive motor of executing agency is simultaneously by respectively needing the angle turned over rotation, and all spinning movements needs It is completed in 1 second.

In conclusion being generated for human body servo antrol logical the embodiment of the invention discloses a kind of communication frame generating method The communication frame of letter equipment includes: the end mark for generating opening flag and communication frame end that instruction communication frame starts；It generates The information that the communication equipment can be arbitrarily arranged, the device code including representing host computer；Generating the communication equipment can not appoint The data information of meaning setting successively includes data length, control data and check bit；By successively combine the opening flag, The information that can be arbitrarily arranged, the data information that can not be arbitrarily arranged and the end mark constitute the communication frame. The communication means of the human body servo antrol based on above-mentioned communication frame is also disclosed the following steps are included: acquiring the people of operator Body is servo-actuated control action and obtains the continuous data frame of continuous action data generation；The data frame transfer is counted to host computer According to re-map processing after generate the communication frame；The computer system control robot communication frame being sent in robot Execute corresponding continuous action.Technical solution of the present invention is made by the Construction designing of the communication frame format of human body servo antrol The control information that can transmit multiple joint angles glibly must be communicated, telepresenc manipulation delay is effectively reduced, realizes distant The servo antrol of Manipulation of the machine people's system real-time and precise.

It will be understood by those skilled in the art that realizing all or part of the process of above-described embodiment method, meter can be passed through Calculation machine program is completed to instruct relevant hardware, and the program can be stored in computer readable storage medium.Wherein, institute Stating computer readable storage medium is disk, CD, read-only memory or random access memory etc..

The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art, It should be covered by the protection scope of the present invention.

Claims (10)

1. a kind of communication frame generating method generates the communication frame of communication equipment for human body servo antrol, which is characterized in that packet It includes: generating the end mark of opening flag and communication frame end that instruction communication frame starts；

The information that the communication equipment can be arbitrarily arranged is generated, the information includes the device code for representing host computer；

The data information that the communication equipment can not be arbitrarily arranged is generated, the data information successively includes data length, control Data and check bit；

By successively combining the opening flag, the information that can be arbitrarily arranged, the data information that can not be arbitrarily arranged The communication frame is constituted with the end mark.

2. communication frame generating method according to claim 1, which is characterized in that the opening flag includes frame head I and frame Head II；Wherein, the code of 1 byte of the frame head I is set as 1A, and the code of 1 byte of the frame head II is set as FA；

The end mark includes postamble I and postamble II；Wherein, the code of 1 byte of the postamble I is set as 0D, the frame The code of 1 byte of tail II is set as 0A.

3. communication frame generating method according to claim 1, which is characterized in that the device code represents the 1 of host computer The code of byte is set as 01.

4. communication frame generating method according to claim 1, which is characterized in that the control data successively include waist 3 freedom degrees, 3 freedom degrees of neck, 6 freedom degrees of each arm, 5 freedom degrees of each hand, each freedom degree use 1 Byte information；

The data length is the length that data are controlled described in a frame, and using the field LEN of 1 byte, code is set as 1C；

The setting of the check bit takes the minimum bit byte after the adduction of each data byte, the data byte 32 words in total Section, 1 byte of 1 byte, frame head II including frame head I, 1 byte of device code, 1 byte of data length and control data 28 bytes.

5. communication frame generating method according to claim 4, which is characterized in that the field of 3 byte informations of the waist Successively include waist course WAT-Y, waist pitching WAT-P, waist roll WAT-R, the fields of 3 byte informations of the neck according to Secondary includes neck course NECK-Y, neck pitching NECK-P, neck roll NECK-R, and the field of 6 byte informations of left arm is ARM-L, the field of 6 byte informations of right arm are ARM-R, and the field of 5 byte informations of left hand is HAND-L, 5 bytes of the right hand The field of information is HAND-R.

6. a kind of communication means of the human body servo antrol based on any communication frame generating method of claim 1-5, special Sign is, comprising the following steps:

The human body of acquisition operator is servo-actuated control action and obtains the continuous data frame of continuous action data generation；

The data frame transfer is carried out to generate the communication frame after data re-map processing to host computer；

The communication frame is sent to the computer system control robot in robot and executes corresponding continuous action.

7. communication means according to claim 6, which is characterized in that the control action is by being worn on operator Motion capture equipment acquisition；

The continuous action data of acquisition are generated continuous data frame transfer to host computer by the motion capture equipment.

8. communication means according to claim 6, which is characterized in that the continuous data frame includes operator's whole body 28 A joint data；

The collected joint data are carried out analog-to-digital conversion by the software of the host computer, and bus interface is called to close each group The control data of section are sent to data radio station；

The control data are wirelessly sent to both arms personification machine with 20 to 60 frame rate per second by the data radio station The computer system of device people, so that robot executes corresponding continuous action.

9. communication means according to claim 8, which is characterized in that the both arms anthropomorphic robot includes that whole body is 28 total Electronic joint is controlled using 28 road pwm signals；

28 road pwm signal includes 3 road PWM of 3DOF waist, 3 road PWM of 3DOF neck gesture stability, 6 freedom Spend 5 tunnels of the 6 road PWM of mechanical arm I, the 6 road PWM of 6DOF mechanical arm II, the 5 road PWM of 5 finger Dextrous Hand I, 5 finger Dextrous Hand II PWM。

10. communication means according to claim 8 or claim 9, which is characterized in that 28 electronic passes of the both arms anthropomorphic robot Section is also controlled using the digital signal of angular values；

The 28 road angular values signal includes 3 tunnels of 3 road angular values of 3DOF waist, 3DOF neck gesture stability Angular values, the 6 road angular values of 6DOF mechanical arm I, the 6 road angular values of 6DOF mechanical arm II, 5 refer to Dextrous Hand I 5 road angular values, 5 refer to Dextrous Hand II 5 road angular values.