Man-machine cooperation device and method based on Kinect video camera

Abstract

The invention discloses a man-machine cooperation device and method based on a Kinect video camera. The man-machine cooperation device and method based on the Kinect video camera is mainly based on a Kinect video camera which is launched by the Microsoft Corporation recently so as to achieve detecting and tracking of a human body target. The man-machine cooperation device and method based on the Kinect video camera can accurately judge the position of a target object and the intention of a tester by utilizing Kinect human skeleton detecting technology, and therefore the risks which occur in the process of handover are avoided. Besides, a rail rapid transit (RRT) algorithm based on working space is provided to achieve route planning. Through repeated experimental verification, the system can conduct interpersonal handover safely.

Description

technical field [0001] The invention relates to image processing and target tracking technology, in particular to a safe human-computer cooperation. Background technique [0002] The traditional research on human-machine handover system mainly relies on the participants to cooperate with the robot, and requires the experimenter to concentrate a lot to avoid danger during the experiment, which brings great pressure to the experimenter. [0003] Most of the general tracking technologies are based on two-dimensional image technology. In the past, most of them used the HMM method to identify human hand movements. Weinland et al. combined the HMM method with 3D modeling in 2007 to identify human movements. Since the above is based on 2 dimensional space is not very accurate even without interference. In 2007, Wu et al. used the RFID method to tag the tester's wrist to track and identify. [0004] There are three main methods commonly used for target detection, including backgro...

AI Technical Summary

Problems solved by technology

[0007] 1. The RRT method based on joint space cannot solve the CP (Continue-path-problem, continuous path problem) problem and the quasi-CT problem (quasi-continuous trajectory problem, that is, only partially restricting the trajectory of the end effector)

[0008] 2. The RRT method based on the joint space cannot predict the motion trajectory of the end effector of the manipulator, resulting in the separation of the end effector motion and the joint motion, which is not conducive to the completion of the task

[0009] In general, if it is necessary to control or constrain the trajectory of the end effector of the manipulator, the RRT method based on the joint space is powerless

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