Gesture control system and control method of ground reconnaissance robot based on binocular vision

Abstract

The invention relates to a gesture control system and control method of a ground reconnaissance robot based on binocular vision, which includes a display, a binocular camera device, a control ring, and a human-computer interaction control system. The interactive control system is connected; the display is used to display the scene image taken by the reconnaissance robot; the binocular camera device is used to collect the gesture image of the operator, and the control ring is used to control the movement of the ground reconnaissance robot body and the movement of the mechanical arm, human-computer interaction The control system is used to process the gesture images captured by the binocular camera device, process the gesture images into the three-dimensional coordinates of the fingertip points, and then send the three-dimensional coordinates of the fingertip points to the robot for execution. The ground reconnaissance robot that can be used for the multi-degree-of-freedom robotic arm uses the combination of the control ring and the binocular camera device to realize the position movement of the robot and the change of the camera angle and height to complete the reconnaissance task.

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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