Multiple-gesture robot control method based on binocular vision

Abstract

The invention relates to the field of robot control methods, in particular to a multiple-gesture robot control method based on binocular vision. In order to overcome the defects that existing robot control methods based on vision are inconvenient to operate, hand identification is greatly affected by illumination and background colors, calculation workload of offline teaching methods is high, andthe precision requirements for robot model precision and coordinate determination are high, the multiple-gesture robot control method based on binocular vision is provided. The method comprises the steps that a binocular camera is arranged; a rectangular frame comprising gestures is manually selected; a classier is trained through a training sample set; a target is detected by the classier; then the target is tracked, and tracking results and detection results are fused; the deviation distance of the center point of the target from the initial point to the target point, a speed control instruction is output, and thus a robot translates; and characteristic points are extracted from the target frame, and rotary matrixes corresponding to the characteristic points are solved. The multiple-gesture robot control method is suitable for spraying robot control methods.

Description

technical field [0001] The invention relates to a robot control method, in particular to a binocular vision-based multi-gesture robot control method. Background technique [0002] The application of industrial robots mainly uses the operator to use the teaching pendant to manually control the joint movement of the robot, so that the robot moves to a predetermined position, and at the same time record the position and transmit it to the robot controller. After that, the robot can follow the instructions Automatically repeat the task, but the current teaching method has the problems of cumbersome process and low efficiency [0003] At present, there are mainly two methods in the teaching method of industrial robots-manual teaching method and offline teaching method. Manual teaching refers to manually guiding the end effector of the robot, or guiding the mechanical simulation device by manual operation, or using the teaching box to make the robot complete the expected action, ...

AI Technical Summary

Problems solved by technology

[0005] The present invention solves the inconvenient operation of the existing vision-based robot control method, the recognition of the opponent is greatly affected by the illumination and background color, and the off-line teaching method has a large amount of calculation, and has a high impact on the accuracy of the robot model and the determination of the robot coordinate system. Due to the shortcomings of precision requirements, a control method for multi-gesture robots based on binocular vision is proposed, including:

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