Chip-Based Real-Time Gesture Tracking for Construction RobotÂs Guidance
Chip-Based Real-Time Gesture Tracking for Construction RobotÂs Guidance
复制标题
用于建筑机器人指导的基于芯片的实时手势跟踪
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
Yeu
中科院分区：
文献类型：
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作者：
Ying;Chun;Tsuneyoshi Lee;Pei;Yeu
自动化施工中的移动机器人专为起重、运输、挖掘和地板抛光等应用而设计。如今这些机器人配备了各种传感器来检测环境信息并自主完成任务。当机器人的导航路径需要重新安排时，机器人的管理者可以适时中断系统，然后为机器人重新定义一条新的路线。除了通过无线电信号远程控制机器人外，使用数码相机接收主管手势指令也是有效的，并且可以避免网络数据路由的缺点。在本文中，我们提出了一种手势跟踪系统，通过模拟交通灯指挥棒来引导建筑工地的差动驱动机器人。这里，实时移动物体检测首先用数码相机跟踪主管的波动（手势）。接下来，系统根据模糊逻辑确定引导方向和转向角。我们所有的设计都是在单个 FPGA 芯片中实现的，以便在严格的环境下运行。实验结果表明，所提出的手势跟踪系统是准确的，并且有望用于未来建筑机器人上基于芯片的手势引导。
Mobile robots in automation construction have been designed for applications of craning, conveying, excavating, and floor polishing. These robots nowadays are equipped with various sensors to detect environmental information and finish tasks autonomously. When robot’s navigating path needs to be rescheduled, the supervisor of robot can duly interrupt system and then redefines a new route for robot. In addition to robot remote control by radio signals, using digital camera to receive instructions from supervisor’s gestures is also effective and can avoid the drawback of networked data routing. In this paper, we propose a gesture tracking system by simulating a traffic light baton to guide a differential drive robot in construction site. Here a real-time moving object detection first tracks supervisor’s waves (gestures) with digital camera. Next the system determines guiding direction and steering angles based on fuzzy logic. All of our designs are implemented in single FPGA chip for operating under rigor environments. The experimental results demonstrate that proposed gesture tracking system is accurate and promising for chip-based gesture guidance on construction robots in the future.