Ground reconnaissance robot gesture control system and method based on binocular vision

Abstract

The invention relates to a ground reconnaissance robot gesture control system and method based on binocular vision. The ground reconnaissance robot gesture control system comprises a display, a binocular camera device, a control ring and a human-machine interaction control system, wherein the display, the binocular camera device and the control ring are connected with the human-machine interaction control system; the display is used for displaying scene images shot by a reconnaissance robot; the binocular camera device is used for collecting gesture images of an operator; the control ring is used for controlling the movement of a ground reconnaissance robot body and the movement of a mechanical arm; and the human-machine interaction control system is used for processing the gesture images shot by the binocular camera device into three-dimensional coordinates of fingertip points, and then sending the three-dimensional coordinates of the fingertip points to the robot for execution. According to the ground reconnaissance robot used for a multi-degree-of-freedom mechanical arm, by combining the control finger ring and the binocular camera device, the position movement of the robot and the angle and height change of the camera are achieved, and the reconnaissance task is completed.

Description

technical field [0001] The present invention relates to the relevant technical fields of binocular vision and remote control of mobile robots, and specifically relates to a control system and a control method for remotely controlling a ground reconnaissance robot through gestures based on binocular vision. Background technique [0002] The ground reconnaissance robot is generally composed of a movable robot body and a reconnaissance system. It is often used for reconnaissance in limited spaces (such as the field, buildings, and indoors). Anti-terrorist reconnaissance in carriages, engine rooms, etc., reconnaissance in toxic gas environments, anti-terrorism and reconnaissance in nuclear radiation environments. [0003] The simplest reconnaissance robot equipped with a reconnaissance system is composed of a camera and a two-degree-of-freedom pan / tilt. The camera is fixed on the pan / tilt, and the pan / tilt is controlled by the joystick to realize the movement control of the came...

AI Technical Summary

Problems solved by technology

However, in the process of gesture segmentation, the skin color segmentation effect is often poor due to lighting and other issues, and the accuracy of the segmentation results directly affects the completion of subsequent work.

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