Gesture and trajectory remote control robot system based on kinect

Abstract

The invention discloses a gesture and trajectory remote control robot system based on Kinect, which belongs to the technical field of robot control. The present invention collects the depth map and the color map of the target person in real time through the Kinect depth camera to perceive the target person's action, uses the Kinect SDK to identify the human skeleton model of the target person in the color map, and segments the right hand palm accordingly. The palm depth information is obtained by using the two-dimensional coordinate information of the hand, thereby generating the three-dimensional coordinates of the hand, and outputting the three-dimensional offset. In addition, for the contour extraction of the segmented palm, use the convex hull algorithm to obtain the convex hull set, connect the convex hull set to generate a polygon fitting curve, and then generate a concave set by comparing with the original hand contour, and judge the recognition according to the geometric method. Gestures to get corresponding instructions. The three-dimensional offset coordinates and gesture control commands are transmitted to the robot through TCP communication, and the robot is controlled to complete the corresponding commands and synchronize with the target person's gesture trajectory.

Description

technical field [0001] The invention belongs to a robot control method, in particular to a Kinect-based gesture and track remote control technology. Background technique [0002] With the popularity of industrial robots, the safety, real-time and simplicity of robot operations in certain specific scenarios have become new problems that need to be solved. Traditional robots are generally controlled by wired devices, but the length of physical wiring is limited and difficult to change. Operators using robots to work in scenarios such as heating furnaces and tall buildings will cause safety hazards and increase the company's safety costs. In addition, the operator usually needs to carry the control device at any time to control the robot, and the robot's functional operation interface is usually cumbersome and complicated, which is not conducive to real-time communication between man and machine: such as temporary changes and fine-tuning of robot actions. [0003] As computer ...

AI Technical Summary

Problems solved by technology

Traditional robots are generally controlled by wired equipment, but the length of physical wiring is limited and difficult to change. Operators use robots to work in scenarios such as heating furnaces and tall buildings, which will cause safety hazards and increase the company's safety costs.

In addition, the operator usually needs to carry the control device at any time to control the robot, and the robot's functional operation interface is usually cumbersome and complicated, which is not conducive to real-time communication between man and machine: such as temporary changes in robot actions, fine adjustments, etc.

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