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Two-wheeled self-balancing robot control method based on Kinect device

A self-balancing, robotic technology, applied in the field of human-computer interaction systems, to achieve the effect of convenient manipulation, remarkable effect and strong system robustness

Inactive Publication Date: 2015-07-15
BEIJING UNIV OF TECH
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

In the existing gesture recognition technology, the skin color space is mostly used for gesture segmentation and modeling, which is easily affected by factors such as lighting

Method used

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  • Two-wheeled self-balancing robot control method based on Kinect device
  • Two-wheeled self-balancing robot control method based on Kinect device
  • Two-wheeled self-balancing robot control method based on Kinect device

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Embodiment Construction

[0044] Below in conjunction with accompanying drawing and specific embodiment the present invention will be further described:

[0045] A two-wheeled self-balancing robot control method based on the Kinect device, such as figure 1 As shown, the method includes the following steps:

[0046] Step 1: Connect the USB interface cable of Kinect to the USB interface of PC and configure the software operating environment;

[0047] Step 2: Open the VS2010 compilation environment and run the successfully compiled image processing main program;

[0048] Step 3: Power on the two-wheel self-balancing robot, and download the robot control program to the digital signal processor of the control system through the debugging software and USB data cable;

[0049] Step 4: collect gesture information through Kinect and perform preprocessing;

[0050] Step 5: The computer uses the DTW algorithm to classify the preprocessed gesture information, and compares it with the gesture samples in the temp...

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Abstract

The invention discloses a two-wheeled self-balancing robot control method based on a Kinect device, and relates to the field of robot control. The two-wheeled self-balancing robot control method is particularly applied to a two-wheeled self-balancing robot motion control and man-machine interactive system. According to the two-wheeled self-balancing robot control method, a system of controlling a motion behavior of a two-wheeled self-balancing robot by using a natural gesture of the human is designed by using a Kinect sensor and a DTW gesture recognition algorithm. The system comprises an image acquiring module, an image processing module, a wireless communication module, a motion control module and a motion executing module. Particularly, the Kinect sensor and the DTW gesture recognition algorithm are used on the basis of designing a system control method, so that natural interactive control of the human and the two-wheeled self-balancing robot is realized. The two-wheeled self-balancing robot control method has good robustness and fault tolerance.

Description

technical field [0001] The invention relates to the field of robot control, and is specifically applied to a human-computer interaction system of a two-wheeled self-balancing robot. Background technique [0002] The two current directions of computer development are the anthropomorphism (virtual reality) and miniaturization (smartphone) of computer systems. Using human senses and actions (such as language, handwriting, posture, sight, expression, etc.) to interact with the computer environment in a parallel and imprecise manner can greatly improve the efficiency and naturalness of human-computer interaction. In recent years, multi-channel interaction technology has developed rapidly, it meets the "human-centered" natural interaction criterion, and it also promotes the rapid development of the information industry in the Internet age. Multi-channel interaction technology communicates with the computer through multiple channels, which include various communication methods for...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/042
CPCG05B19/042
Inventor 阮晓钢田重阳李望博
Owner BEIJING UNIV OF TECH
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