Nao Robot Mimicking Movements Siv Kinect: 7 Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:29

Hauv cov lus qhia no kuv yuav piav qhia rau koj li cas peb cia Nao neeg hlau ua peb lub zog txav los siv lub kinect sensor. Lub hom phiaj tiag ntawm txoj haujlwm yog lub hom phiaj kev kawm: tus kws qhia ntawv muaj peev xwm sau qee yam kev txav chaw (piv txwv li kev seev cev) thiab tuaj yeem siv cov kaw suab no tso rau cov menyuam hauv chav kawm ua piv txwv tus neeg hlau. Los ntawm kev hla tag nrho cov lus qhia ib qib zuj zus, koj yuav tsum muaj peev xwm rov ua qhov haujlwm no.

Nov yog qhov haujlwm sib tham hauv tsev kawm (NMCT @ Howest, Kortrijk).

Kauj Ruam 1: Kev Paub Yooj Yim

Txhawm rau rov ua txoj haujlwm no koj yuav tsum muaj qee qhov kev paub yooj yim:

- Kev paub txog nab nab yooj yim

- Kev paub paub C# yooj yim (WPF)

- Kev paub txog trigonometry yooj yim

- Kev paub txog yuav teeb tsa MQTT ntawm raspberry pi

Kauj Ruam 2: Tau Txais Cov Khoom Uas Xav Tau

Cov ntaub ntawv xav tau rau txoj haujlwm no:

- Raspberry Pi

- Kinect Sensor v1.8 (Xbox 360)

- Nao neeg hlau lossis virutal neeg hlau (Choregraph)

Kauj Ruam 3: Nws Ua Haujlwm Li Cas

Lub kinect sensor txuas nrog lub khoos phis tawj uas siv daim ntawv thov WPF. Daim ntawv thov WPF xa cov ntaub ntawv mus rau Python daim ntawv thov (neeg hlau) siv MQTT. Cov ntaub ntawv hauv cheeb tsam tau txais kev cawmdim yog tias tus neeg siv xaiv li ntawd.

Cov lus piav qhia ntxaws:

Ua ntej peb pib sau, tus neeg siv yuav tsum nkag mus rau tus IP-chaw nyob ntawm MQTT tus broker. Dhau li ntawd, peb kuj xav tau lub ncauj lus uas peb xav tshaj tawm cov ntaub ntawv. Tom qab nias pib, daim ntawv thov yuav tshuaj xyuas yog tias tuaj yeem tsim kev sib txuas nrog tus tswv lag luam thiab nws yuav muab lus teb rau peb. Txheeb xyuas yog tias muaj lub ncauj lus tsis tuaj yeem ua tau, yog li koj muaj lub luag haujlwm rau qhov no. Thaum ob qho kev nkag mus tau zoo, daim ntawv thov yuav pib xa cov ntaub ntawv (x, y & z cov ntawv sib koom ua ke txhua qhov sib koom ua ke) los ntawm lub cev pob txha uas tab tom taug qab mus rau lub ncauj lus ntawm MQTT tus broker.

Vim tias tus neeg hlau txuas nrog tib tus MQTT broker thiab tau sau npe rau tib lub ncauj lus (qhov no yuav tsum tau nkag rau hauv daim ntawv thov nab nab ib yam nkaus) daim ntawv thov nab nab tam sim no yuav tau txais cov ntaub ntawv los ntawm WPF daim ntawv thov. Siv trigonometry thiab tus kheej sau cov txheej txheem, peb hloov cov coördinates rau cov ces kaum thiab radians, uas peb siv los tig lub cav hauv cov neeg hlau hauv lub sijhawm tiag.

Thaum tus neeg siv ua tiav kaw, nws nias lub pob nres. Tam sim no tus neeg siv tau txais pop-up nug yog nws xav khaws cov ntaub ntawv kaw tseg. Thaum tus neeg siv tsoo tshem tawm, txhua yam tau rov pib dua (cov ntaub ntawv poob lawm) thiab cov ntaub ntawv tshiab tuaj yeem pib. Yog tias tus neeg siv xav khaws cov ntaubntawv povthawj siv, nws yuav tsum sau lub npe thiab ntaus 'txuag'. Thaum tsoo 'txuag' txhua cov ntaub ntawv tau txais yog sau rau hauv cov ntaub ntawv hauv zos siv cov npe nkag ua lub npe. Cov ntaub ntawv tseem tau ntxiv rau daim ntawv teev npe ntawm sab xis ntawm lub vijtsam. Txoj kev no, tom qab ob npaug nyem qhov nkag tshiab hauv daim ntawv teev npe, cov ntaub ntawv tau nyeem thiab xa mus rau MQTT broker. Thiaj li, tus neeg hlau yuav ua cov ntaubntawv povthawj siv.

Kauj Ruam 4: Teeb MQTT Broker

Txog kev sib txuas lus ntawm kinect (WPF project) thiab neeg hlau (Python project) peb siv MQTT. MQTT muaj tus broker (lub khoos phis tawj linux uas mqtt software (piv txwv li. Mosquitto)) tab tom khiav thiab cov ncauj lus uas cov neeg siv khoom tuaj yeem sau npe (lawv tau txais cov lus los ntawm lub ncauj lus) thiab tshaj tawm (lawv tshaj tawm cov lus ntawm lub ncauj lus).

Txhawm rau teeb tsa MQTT broker tsuas yog rub tawm tag nrho cov duab jessie no. Nov yog kev teeb tsa huv rau koj Raspberry Pi nrog MQTT broker rau nws. Lub ntsiab lus yog "/Sandro".

Kauj Ruam 5: Txhim Kho Kinect SDK V1.8

Txhawm rau kinect ua haujlwm hauv koj lub computer koj yuav tsum teeb tsa Microsoft Kinect SDK.

Koj tuaj yeem rub nws ntawm no:

www.microsoft.com/en-us/download/details.a…

Kauj Ruam 6: Txhim Kho Python V2.7

Tus neeg hlau ua haujlwm nrog NaoQi lub moj khaum, lub moj khaum no tsuas yog muaj rau nab nab 2.7 (TSIS 3.x), yog li xyuas seb dab tsi ntawm nab nab koj tau teeb tsa.

Koj tuaj yeem rub tus nab npawb 2.7 ntawm no:

www.python.org/downloads/release/python-27…

Kauj ruam 7: Coding

Github:

Sau ntawv:

- Coding nrog kinect: thawj zaug koj saib rau kinect txuas nrog. Tom qab txuag qhov no sab hauv cov cuab yeej peb qhib xim- thiab lub cev pob txha ntawm kinect. Colorstream yog cov vis dis aus nyob, thaum lub cev pob txha txhais tau tias lub cev pob txha ntawm tus neeg nyob rau pem hauv ntej ntawm lub koob yees duab yuav tshwm. Colorstream tsis yog qhov tsim nyog tiag tiag kom ua txoj haujlwm no, peb tsuas yog qhib nws vim tias ua rau lub cev pob txha tawg mus rau xim xim zoo li zoo!

- Hauv qhov tseeb nws yog lub cev pob txha uas ua haujlwm. Enabling skeletonstream txhais tau tias lub cev pob txha ntawm tus neeg tab tom taug qab. Los ntawm cov pob txha no koj tau txais txhua yam ntaub ntawv xws li. kev taw qhia cov pob txha, cov ntaub ntawv sib koom,… Tus yuam sij rau peb txoj haujlwm yog cov ntaub ntawv sib koom ua ke. Siv x-y & z kev tswj hwm ntawm txhua ntawm cov pob qij txha los ntawm cov pob txha taug qab, peb paub peb tuaj yeem ua rau tus neeg hlau txav mus. Yog li, txhua.8 vib nas this (siv lub sijhawm ntsuas) peb tshaj tawm x, y & z kev tswj hwm ntawm txhua qhov sib koom ua ke rau mqtt broker.

- Txij li cov phiaj xwm nab hab sej muaj cov npe ntawm mqtt broker peb tam sim no tuaj yeem nkag mus rau cov ntaub ntawv hauv qhov haujlwm no. Sab hauv txhua qhov sib koom ntawm tus neeg hlau yog ob lub cav. Cov motors no tsis tuaj yeem tsuas yog siv tus x, y & z tswj ncaj qha. Yog li, siv trigonometry thiab qee qhov kev nkag siab, peb hloov pauv x, y & z kev sib koom tes ntawm cov pob qij txha rau cov ces kaum tsis ruaj khov rau neeg hlau.

Yog li txhua txhua.8 vib nas this WPF txoj haujlwm tshaj tawm x, y & z kev tswj hwm ntawm txhua qhov sib koom tes. Thiaj li, sab hauv cov phiaj xwm nab nab cov kev sib koom ua ke no tau hloov pauv mus rau lub kaum ntse ntse, uas tom qab ntawd xa mus rau qhov sib txuas ntawm cov neeg hlau.