A remote mechanical arm precision control system based on circular polarization signal sensing

Abstract

The application is suitable for the field of human-computer interaction and robot control technology, and provides a remote mechanical arm precise control system based on circular polarization signal sensing, which comprises a circular polarization optical emission module, a circular polarization differential module, a ROS platform, a mechanical arm and monitoring glasses; the circular polarization optical emission module is a left-handed circular polarization emission wearable glove or a right-handed circular polarization emission wearable glove worn on the operator's hand; the circular polarization differential module comprises a circular polarization lens group, a light splitting prism, a CMOS / CCD camera and a differential processing system; the ROS platform comprises a gesture recognition unit, a simulation modeling unit and a motion planning unit.The application realizes remote mechanical arm precise control based on circular polarization signal sensing, suppresses noise through the physical orthogonal characteristics of the circular polarization signal, improves the signal recognition accuracy under the condition of strong interference and complex light field, and realizes a full-closed-loop link of remote precise operation based on the circular polarization signal.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of human-computer interaction and robot control, and particularly relates to a remote mechanical arm precise control system based on circular polarization signal sensing. BACKGROUND

[0002] The development of industrial automation and remote control promotes the wide use of precise control of mechanical arms in human-computer interaction. However, in a complex industrial environment, there are many problems to be overcome in the mechanical arm control system, among which the signal transmission reliability and anti-interference of the mechanical arm control system have become major problems.

[0003] The current existing remote control platform generally does not have signal noise reduction and anti-interference mechanism, and more uses traditional signals such as electromyographic signals, electromagnetic signals, and light intensity. However, these signals do not have the function of resisting complex light field or electromagnetic interference, and are sensitive to environmental light or electromagnetic environment in a complex environment scene, are easily affected by electromagnetic interference, environmental light, and non-gesture interference, cause signal distortion, increase the error rate of hand control instruction recognition, and have no process of mechanical arm execution trajectory feedback, which easily causes inaccurate control of the mechanical arm.

[0004] The current signal sensing method lacks a way to actively eliminate noise at the physical layer. Although some systems introduce relatively simple filtering methods and signal enhancement methods, they can only eliminate the influence of noise to some extent, but not fundamentally improve the stability and recognition accuracy of signals in the face of complex noise.

[0005] Circular polarization emission is an important high-dimensional optical physical property, which is a third-dimensional optical physical property different from light intensity and wavelength. Through the phase delay of a quarter-wave plate, circularly polarized light can have a non-zero difference in the x direction and the y polarization direction, while noise still has the same noise intensity in the orthogonal plane after phase delay. Through differential processing, signal restoration processing at the physical layer can be realized, and the effect of noise reduction can be achieved. This characteristic makes circular polarization signals have natural anti-interference ability in a complex interference environment, but has not been applied to a remote control system of a mechanical arm.

[0006] In summary, the existing technology has deficiencies in signal anti-interference ability, signal recognition accuracy, and real-time mechanical arm running trajectory monitoring in remote mechanical arm control, which limits the application range and operation efficiency of the remote mechanical arm in a complex environment. Therefore, it is urgent to develop a remote control system with physical layer anti-interference ability. The inherent physical characteristics of circular polarization signals have the characteristics of front-end signal noise separation. With a new type of circular polarization signal modulation method and a new framework of control loop, the defects of traditional remote control can be solved, and the blank of realizing precise control of a remote mechanical arm through circular polarization signals can be overcome. SUMMARY

[0007] In view of the deficiencies of the prior art, the purpose of the present application is to provide a remote mechanical arm precise control system based on circularly polarized signal sensing, aiming to solve the technical problems proposed in the background art.

[0008] A remote mechanical arm precise control system based on circularly polarized signal sensing, the system comprising a circularly polarized optical emission module, a circularly polarized differential module, a ROS platform, a mechanical arm and monitoring glasses;

[0009] The circularly polarized optical emission module is one of a left-handed circularly polarized emission wearable glove and a right-handed circularly polarized emission wearable glove worn on the operator's hand;

[0010] The circularly polarized differential module comprises a circularly polarized lens group, a beam splitting prism, a CMOS / CCD camera and a differential processing system;

[0011] The ROS platform comprises a gesture recognition unit, a simulation modeling unit and a motion planning unit;

[0012] The mechanical arm is a mechanical arm with a multi-degree-of-freedom servo;

[0013] The monitoring glasses are smart wearable devices, which are provided with a camera module and a wireless communication unit.

[0014] Further, the circularly polarized optical emission module is a left-handed circularly polarized emission wearable glove or a right-handed circularly polarized emission wearable glove with stable high-dimensional circularly polarized emission function, the wavelength range is 350-1500nm, and different characteristic parameters of circularly polarized signals are output according to the gesture movement of the operator.

[0015] Further, the left-handed circularly polarized emission glove and the right-handed circularly polarized emission glove need to cover all finger joints and palm areas.

[0016] Preferably, the left-handed circularly polarized emission glove or the right-handed circularly polarized emission glove has a circularly polarized luminescence asymmetry factor g lum ≥0.3, which ensures high-purity circularly polarized state.

[0017] Preferably, the material of the left-handed circularly polarized emission glove or the right-handed circularly polarized emission glove is selected from circularly polarized luminescent fibers, circularly polarized perovskite quantum dot flexible materials or chiral metasurface optical films, which has good circularly polarized optical signal emission performance.

[0018] Further, the orthogonal decomposition and noise reduction process of the circularly polarized signal is based on the following principles:

[0019] The circularly polarized signal can be represented as the superposition of two orthogonal linearly polarized signals:

[0020] ;

[0021] wherein, E x( t) and E y (t) are the electric field components in the x and y directions respectively, and satisfy:

[0022] ;

[0023] wherein, T is the signal period;

[0024] In the transmission process, the circularly polarized signal becomes :

[0025] ;

[0026] wherein, n x (t) and n y (t) are noise components, and the noise components do not have circular polarization characteristics in nature, so n x (t) and n y (t) noise components are equal;

[0027] Through the processing of the circular polarization differential module, after phase delay, the noise components n x (t) and n y (t) in the x and y directions can be subtracted and removed, the target signal is effectively separated, and the original circularly polarized signal is restored, realizing the purpose of physical noise reduction, and effectively improving the signal-to-noise ratio of the signal.

[0028] Further, the circular polarization lens group in the circular polarization differential module is divided into a left-handed circular polarization lens group and a right-handed circular polarization lens group, realizing adaptive separation of left-handed and right-handed circularly polarized signals, effectively eliminating environmental light, linear polarization and multi-path reflection noise, and improving the accuracy and stability of circularly polarized signal extraction. The circular polarization differential module can effectively block natural light, artificial light sources and other non-circularly polarized light in the environment to ensure stable and accurate transmission of the signal.

[0029] Preferably, the working waveband of the circular polarization lens group is selected from 350-1500 nm.

[0030] The beam splitting prism is used to split the signal into two beams of the same intensity.

[0031] The CMOS / CCD camera is a visible light wavelength imaging camera, which is used to capture the light intensity signals in the x and y directions respectively.

[0032] Preferably, the CMOS / CCD camera is selected from a global shutter CMOS camera or a CCD camera.

[0033] Preferably, the frame rate of the CMOS / CCD camera is greater than or equal to 30 fps.

[0034] Preferably, the resolution of the CMOS / CCD camera is greater than 1920x1080.

[0035] The differential processing system differentiates the light intensity matrix captured by the CMOS / CCD camera, and utilizes the orthogonal characteristics of the circularly polarized signal. The noise is canceled in the differential calculation process, the target signal and the interference signal are separated, and the circularly polarized luminescence asymmetry factor The calculation formula is as follows:

[0036] ;

[0037] is the image light intensity value obtained by the photosensitive chip in the CMOS / CCD camera through the left-handed circularly polarized lens group at the corresponding pixel point, is the image light intensity value obtained by the photosensitive chip in the CMOS / CCD camera through the right-handed circularly polarized lens group at the corresponding pixel point.

[0038] Preferably, the maximum and minimum values of the circularly polarized luminescence asymmetry factor are controlled within [-2, 2] to prevent data overflow.

[0039] Preferably, the differential processing system adopts a pseudo-color coding method to map the circularly polarized luminescence asymmetry factor into a visual color image.

[0040] Further, the ROS platform includes a gesture recognition unit, a simulation modeling unit, and a motion planning unit, wherein:

[0041] The gesture recognition unit uses deep learning to analyze the gesture features in the circularly polarized signal, identifies the gesture key points therein, and converts them into corresponding control instructions;

[0042] Preferably, the gesture recognition unit is a Mediapipe gesture recognition module that can identify multiple gesture key points.

[0043] Preferably, the gesture recognition unit needs to support dynamic gesture trajectory tracking.

[0044] The simulation modeling unit is a digital twin model of the robot arm based on the Robot Operating System (ROS), which maps the physical space motion in real time.

[0045] Preferably, the simulation modeling unit is a digital twin of the robot arm based on Gazebo, which imports the URDF model and maps the joint angles in real time.

[0046] The motion planning unit is according to the gesture recognition and simulation modeling, planning out the collision-free and smooth mechanical arm motion trajectory, and generating the final motion control instruction.

[0047] Preferably, the motion planning unit is selected from Movelt motion planning, generating collision-free trajectory, smooth mechanical arm motion instruction.

[0048] Further, the mechanical arm has a multi-degree-of-freedom steering engine, which can realize complex spatial motion, and perform precise remote action according to the motion control instruction issued under the ROS platform.

[0049] Preferably, the mechanical arm has at least 6 degrees of freedom.

[0050] Preferably, the end effector of the mechanical arm is selected from a two-finger adaptive gripper or a vacuum chuck array.

[0051] Further, the monitoring glasses are matched with a display module, which monitors and feeds back the mechanical arm action information in real time, and realizes closed-loop control optimization function.

[0052] Preferably, the display module of the monitoring glasses is selected from a Micro-OLED binocular perspective screen.

[0053] Further, the mechanical arm performs precise and sensitive actions such as grabbing, placing and assembling according to the motion control instruction.

[0054] Further, the operator, the circularly polarized optical emission module, the ROS platform, the mechanical arm execution end and the monitoring glasses form a closed real-time monitoring loop, and form an integrated man-machine interactive remote control terminal.

[0055] Preferably, the data transmission is one or more of USB3.0 and above interface, high-speed Thunderbolt interface and GigE.

[0056] The present application has the following beneficial effects:

[0057] 1. Significantly improve the anti-interference ability: based on the physical orthogonal characteristics of circularly polarized signal, the interference of natural light, artificial light source and other non-circularly polarized light in the environment can be effectively suppressed.

[0058] 2. Reduce system complexity: based on the orthogonal decomposition of circularly polarized signal, the separation of signal and noise is realized on the physical layer instead of digital signal processing algorithm, which reduces the dependence on complex algorithms such as filtering and coding, and reduces the design and implementation of the system.

[0059] 3. Precise control: the circularly polarized differential module can effectively suppress nonlinear error and improve signal fidelity, so as to realize precise control of remote mechanical arm.

[0060] 4. Reduce the cost: compared with the existing anti-interference technology, the application does not need additional shielding equipment or complex signal processing algorithm, reduces the system cost and power consumption. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1 The principle block diagram of the remote mechanical arm precise control system based on circularly polarized signal sensing obtained in embodiment 1 of the application;

[0062] Figure 2 The actual shooting picture of the remote mechanical arm precise control system based on circularly polarized signal sensing obtained in embodiment 1 of the application under the precise control of multi-hand interference;

[0063] Figure 3 The actual shooting picture of the remote mechanical arm precise control system based on circularly polarized signal sensing obtained in embodiment 1 of the application under the precise control of the simulated sand table of electromagnetic radiation;

[0064] Figure 4 The accuracy of the remote mechanical arm precise control system based on circularly polarized signal sensing obtained in embodiment 1 of the application under the precise control of the simulated sand table of electromagnetic radiation;

[0065] Figure 5 The actual shooting picture of the remote mechanical arm precise control system based on circularly polarized signal sensing obtained in embodiment 3 of the application for shaking hands and passing keys. DETAILED DESCRIPTION

[0066] The application provides a remote mechanical arm precise control system based on circularly polarized signal sensing, an operator wears a circularly polarized emission glove to make a gesture, a signal is input into a ROS platform after differential noise reduction and is analyzed as a control instruction, a mechanical arm is driven to execute an action, and glasses are monitored to feed back an execution state in real time. In order to make the purpose, technical scheme of the application more clear, the application is further described below in combination with specific embodiments, but the following description is only an example action, and should not limit the protection scope of the application.

[0067] The application provides a remote mechanical arm precise control system based on circularly polarized signal sensing, the system comprising a circularly polarized optical emission module, a circularly polarized differential module, a ROS platform, a mechanical arm and monitoring glasses;

[0068] The circularly polarized optical emission module is one of a left-handed circularly polarized emission wearable glove and a right-handed circularly polarized emission wearable glove worn on the hands of an operator;

[0069] The circularly polarized differential module comprises a circularly polarized lens group, a light splitting prism, a CMOS / CCD camera and a differential processing system;

[0070] The ROS platform comprises a gesture recognition unit, a simulation modeling unit and a motion planning unit.

[0071] The mechanical arm is a mechanical arm with a multi-degree-of-freedom steering engine.

[0072] The monitoring glasses are smart wearable devices, which are provided with a camera module and a wireless communication unit.

[0073] In the embodiment, the circularly polarized optical emission module is a left-handed circularly polarized emission wearable glove or a right-handed circularly polarized emission wearable glove with stable high-dimensional circularly polarized emission function, and the wavelength range is 350-1500 nm. The circularly polarized signal with different characteristic parameters is output according to the gesture movement of the operator.

[0074] In the embodiment, the left-handed circularly polarized emission glove and the right-handed circularly polarized emission glove need to cover all finger joints and palm areas.

[0075] In the embodiment, the left-handed circularly polarized emission glove or the right-handed circularly polarized emission glove has a circularly polarized light asymmetry factor g lum ≥0.3, which ensures a high-purity circularly polarized state.

[0076] In the embodiment, the material of the left-handed circularly polarized emission glove or the right-handed circularly polarized emission glove is selected from circularly polarized luminescent fibers, circularly polarized perovskite quantum dot flexible materials or chiral metasurface optical films, and has good circularly polarized optical signal emission performance.

[0077] In the embodiment, the orthogonal decomposition and noise reduction process of the circularly polarized signal are based on the following principles:

[0078] The circularly polarized signal can be represented as the superposition of two orthogonal linearly polarized signals:

[0079] ;

[0080] wherein E x( (t) and E y (t) are the electric field components in the x direction and the y direction, respectively, and satisfy:

[0081] ;

[0082] wherein T is the signal period;

[0083] During transmission, the circularly polarized signal becomes after being disturbed by noise:

[0084] ;

[0085] wherein n x (t) and ny (t) is a noise component, and the noise component does not have a circular polarization characteristic in nature, so n x (t) and n y (t) noise components are equal;

[0086] Through the processing of the circular polarization differential module, after phase delay, the noise components n x (t) and n y (t) can be removed by subtraction, the target signal is effectively separated, and the original circular polarization signal is restored, the purpose of physical noise reduction is achieved, and the signal-to-noise ratio of the signal is effectively improved.

[0087] In the embodiment, the circular polarization lens group in the circular polarization differential module is divided into a left-handed circular polarization lens group and a right-handed circular polarization lens group, adaptive separation of left-handed and right-handed circular polarization signals is achieved, environmental light, linear polarization and multipath reflection noise are effectively eliminated, and the accuracy and stability of circular polarization signal extraction are improved. The circular polarization differential module can effectively block natural light, artificial light sources and other non-circular polarization light in the environment to ensure stable and accurate transmission of the signal.

[0088] In the embodiment, the working waveband of the circular polarization lens group is selected from 350-1500 nm.

[0089] The light splitting prism is used to split the signal into two beams of the same intensity.

[0090] The CMOS / CCD camera is a visible light wavelength imaging camera, which is used to capture the light intensity signals in the x direction and the y direction, respectively.

[0091] In the embodiment, the CMOS / CCD camera is selected from a global shutter CMOS camera or a CCD camera.

[0092] In the embodiment, the frame rate of the CMOS / CCD camera is greater than or equal to 30 fps.

[0093] In the embodiment, the resolution of the CMOS / CCD camera is greater than 1920x1080.

[0094] The differential processing system differentially processes the light intensity matrix captured by the CMOS / CCD camera, utilizes the orthogonal characteristic of the circular polarization signal, and cancels the noise in the differential calculation process, so as to separate the target signal from the interference signal, and calculate the circular polarization luminescence asymmetry factor The calculation formula of the circular polarization luminescence asymmetry factor

[0095] ;

[0096] The image light intensity value acquired by the photosensitive chip in the CMOS / CCD camera through the left circularly polarized lens group at the corresponding pixel point, The image light intensity value acquired by the photosensitive chip in the CMOS / CCD camera through the right circularly polarized lens group at the corresponding pixel point.

[0097] In this embodiment, the maximum and minimum values of the circularly polarized light asymmetry factor are controlled within [-2, 2] to prevent data overflow.

[0098] In this embodiment, the difference processing system adopts a pseudo-color coding method to map the circularly polarized light asymmetry factor into a visual color image.

[0099] In this embodiment, the ROS platform includes a gesture recognition unit, a simulation modeling unit, and a motion planning unit, wherein:

[0100] The gesture recognition unit uses deep learning to analyze gesture features in circularly polarized signals, identifies gesture key points, and converts them into corresponding control instructions.

[0101] In this embodiment, the gesture recognition unit is a Mediapipe gesture recognition module that can identify multiple gesture key points.

[0102] In this embodiment, the gesture recognition unit needs to support dynamic gesture trajectory tracking.

[0103] The simulation modeling unit is based on the Robot Operating System (ROS) to build a digital twin model of the robot arm, which maps the physical space motion in real time.

[0104] In this embodiment, the simulation modeling unit is based on Gazebo to build a digital twin of the robot arm, imports the URDF model, and maps the joint angles in real time.

[0105] The motion planning unit plans a collision-free and smooth robot arm motion trajectory based on gesture recognition and simulation modeling, and generates the final motion control instructions.

[0106] In this embodiment, the motion planning unit selects Movelt motion planning to generate collision-free and smooth robot arm motion instructions.

[0107] In this embodiment, the robot arm has multiple degrees of freedom of the rudder, which can realize complex spatial motion and perform precise remote action execution according to the motion control instructions issued by the ROS platform.

[0108] In this embodiment, the robot arm has at least 6 degrees of freedom.

[0109] In this embodiment, the end effector of the mechanical arm is selected from two-finger adaptive gripper or vacuum chuck array.

[0110] In this embodiment, the monitoring glasses are matched with a display module to monitor and feed back the action information of the mechanical arm in real time, so as to realize the closed-loop control optimization function.

[0111] In this embodiment, the display module of the monitoring glasses is selected from Micro-OLED binocular perspective screen.

[0112] In this embodiment, the mechanical arm performs precise and sensitive grabbing, placing, assembling and other actions according to the motion control instructions.

[0113] In this embodiment, the operator, the circularly polarized optical emission module, the ROS platform, the mechanical arm execution end and the monitoring glasses form a closed real-time monitoring loop to form an integrated man-machine interactive remote control terminal.

[0114] In this embodiment, the data transmission is one or several of USB3.0 and above interface, high-speed Thunderbolt interface and GigE.

[0115] In order for those skilled in the art to better understand the technical solutions of the present application, the specific embodiments of the present application are given as follows:

[0116] Embodiment 1 provides a remote mechanical arm precise control system based on circularly polarized signal sensing, the system comprising:

[0117] The circularly polarized optical emission module:

[0118] The circularly polarized optical emission module is a chiral perovskite circularly polarized emission fiber glove, and the flexible glove covers all the knuckles and the palm.

[0119] The chiral perovskite circularly polarized emission fiber glove has a light emission wavelength of 530 nm and glum = 0.4.

[0120] The circularly polarized differential module:

[0121] The left-handed circularly polarized lens group adopts a left-handed circular polarizer of Thorlabs CP1L532 type;

[0122] The right-handed circularly polarized lens group adopts a right-handed circular polarizer of Thorlabs CP1R532 type;

[0123] The circularly polarized light is introduced into a global shutter CMOS camera (resolution 2048x1536, frame rate 30fps) after being split by a spectroscope prism;

[0124] The circular polarization difference module calculates a circular polarization luminescence asymmetry factor and generates a pseudo-color coded mapping image, facilitating subsequent gesture analysis;

[0125] ROS platform:

[0126] The Mediapipe gesture recognition module performs gesture recognition on the gesture light signal stream extracted by the difference, and extracts gesture action parameters in real time Figure 1 );

[0127] The Gazebo simulation modeling performs digital twin simulation on model parameters, and completes mechanical arm action simulation and collision detection;

[0128] The Movelt motion planner outputs a collision-free and optimal motion trajectory instruction to control the mechanical arm to realize space grabbing / rotation / assembly and other operations;

[0129] The instruction is sent to the mechanical arm rudder system through the USB3.0 high-speed interface.

[0130] Mechanical arm:

[0131] The mechanical arm is a 6-DOF mechanical arm equipped with a two-finger adaptive gripper, supporting grabbing of various complex objects;

[0132] Monitoring glasses:

[0133] The intelligent monitoring glasses have a Micro-OLED binocular perspective screen and integrate a high-speed wireless communication unit, which can real-time echo the mechanical arm action state for the operator to adjust the gesture optimization process;

[0134] Test environment:

[0135] Precise remote precise operation under multi-hand interference Figure 2 ).

[0136] Results:

[0137] The system has 100% mechanical arm accuracy in 200 tests.

[0138] Example 2, compared with example 1, the difference lies in: test environment: in the simulation sand table with strong electromagnetic radiation Figure 3 ). Results: The system has 100% mechanical arm accuracy in 70 tests at different distances Figure 4 ).

[0139] Example 3, compared with example 1, the difference lies in: test environment: handshake interaction and key delivery task Figure 5 ). Results: The system can achieve error-free task execution.

[0140] The system of the application is tested, and the test result shows that the mechanical arm remote control system based on the circular polarization signal has good compatibility with various application scenarios. The test system realizes physical noise reduction through orthogonal decomposition of the circular polarization signal, and achieves excellent test results in signal transmission noise resistance, precision assembly, strong light and harsh environment, thereby providing a new method for realizing mechanical arm remote control.

[0141] The above is only the preferred embodiment of the application, and does not limit the patent scope of the application, and any equivalent structure or equivalent process transformation in the specification of the application, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the application.

Claims

1. A remote manipulator precision control system based on circular polarization signal sensing, characterized in that, The system comprises a circularly polarized optical emission module, a circularly polarized differential module, a ROS platform, a mechanical arm and monitoring glasses; The circularly polarized optical emission module is one of a left-handed circularly polarized emission wearable glove and a right-handed circularly polarized emission wearable glove worn on the operator's hand; The circularly polarized differential module comprises a circularly polarized lens group, a light splitting prism, a CMOS / CCD camera and a differential processing system; The ROS platform comprises a gesture recognition unit, a simulation modeling unit and a motion planning unit; The mechanical arm is a mechanical arm with a multi-degree-of-freedom servo; The monitoring glasses are smart wearable devices, which are provided with a camera module and a wireless communication unit.

2. The precise control system for remote manipulator based on circular polarization signal sensing according to claim 1, characterized in that, The circularly polarized optical emission module is a left-handed circularly polarized emission wearable glove or a right-handed circularly polarized emission wearable glove with a circularly polarized emission function and a wavelength range of 350-1500 nm, which outputs circularly polarized signals with different characteristic parameters according to the gesture movement of the operator.

3. The precise control system for remote manipulator based on circular polarization signal sensing according to claim 1, characterized in that, The left-handed circularly polarized emission wearable glove and the right-handed circularly polarized emission wearable glove need to cover all finger joints and palm areas.

4. The precise control system for remote manipulator based on circular polarization signal sensing according to claim 2, characterized in that, The orthogonal decomposition and noise reduction process of the circularly polarized signal is based on the following principle: Circularly polarized signal is represented as a superposition of two orthogonal linearly polarized signals: ； where E x( t) and E y (t) are the electric field components in the x and y directions, respectively, and satisfy: ； Where T is the signal period; During transmission, the circularly polarized signal becomes : ； wherein n x (t) and n y (t) is a noise component, and in nature the noise component does not have a circular polarization characteristic, so n x (t) and n y (t) are equal; Through the processing of the circular polarization difference module, after phase delay, the noise components n x (t) and n y (t) are removed, the target signal is effectively separated, and the original circular polarization signal is restored.

5. The precise control system for remote manipulator based on circular polarization signal sensing according to claim 1, characterized in that, The circularly polarized lens group in the circularly polarized differential module is divided into a left-handed circularly polarized lens group and a right-handed circularly polarized lens group; The light splitting prism is used to split the signal into two beams with the same intensity; The CMOS / CCD camera is an imaging camera, which is used to capture the light intensity signals in x and y directions respectively; The differential processing system differentiates the light intensity matrix captured by the CMOS / CCD camera, utilizes the orthogonal characteristics of the circular polarization signal, cancels the noise in the differential calculation process, realizes the separation of the target signal and the interference signal, and calculates the circular polarization luminescence asymmetry factor The formula is as follows: ； the image light intensity value acquired by the photosensitive chip in the CMOS / CCD camera through the left circularly polarized lens group on the corresponding pixel point, the image light intensity value acquired by the photosensitive chip in the CMOS / CCD camera through the right circularly polarized lens group on the corresponding pixel point.

6. The precise control system for remote manipulator based on circular polarization signal sensing according to claim 1, characterized in that, The ROS platform comprises a gesture recognition unit, a simulation modeling unit and a motion planning unit, wherein: The gesture recognition unit uses deep learning to analyze the gesture features in the circularly polarized signal, identifies the gesture key points therein, and converts them into corresponding control instructions; The simulation modeling unit constructs a digital twin model of the mechanical arm based on the robot operating system, and maps the physical space motion in real time; The motion planning unit plans a collision-free and smooth mechanical arm motion trajectory according to the gesture recognition and simulation modeling, and generates the final motion control instructions.

7. The precise control system for remote manipulator based on circular polarization signal sensing according to claim 1, characterized in that, The mechanical arm has a multi-degree-of-freedom servo, which performs precise remote action execution according to the motion control instructions issued by the ROS platform.

8. The precise control system for remote manipulator based on circular polarization signal sensing according to claim 1, characterized in that, The monitoring glasses are equipped with a display module, which monitors and feeds back the mechanical arm action information in real time, realizes the closed-loop control optimization function.

9. The precise control system for remote manipulator based on circular polarization signal sensing according to claim 1, characterized in that, The mechanical arm performs grasping, placing and assembling actions according to the motion control instructions.

10. The precise control system for remote manipulator based on circular polarization signal sensing according to claim 1, characterized in that, The operator, the circularly polarized optical emission module, the ROS platform, the mechanical arm execution end and the monitoring glasses form a closed real-time monitoring loop, forming an integrated human-computer interactive remote control terminal.

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