CN109313485B

CN109313485B - Robot control method, device and robot based on gesture identification

Info

Publication number: CN109313485B
Application number: CN201780017026.9A
Authority: CN
Inventors: 李北辰
Original assignee: GUANGZHOU AINUOBO ROBOT TECHNOLOGY Co Ltd
Current assignee: Zhejiang Qiyuan Robot Co.,Ltd.
Priority date: 2017-02-18
Filing date: 2017-02-18
Publication date: 2019-10-11
Anticipated expiration: 2037-02-18
Also published as: WO2018148951A1; CN109313485A

Abstract

The invention discloses a kind of robot control methods based on gesture identification, comprising: when being detected in the preset range of robot by distance measuring sensor there are when object, then starts gesture identification operation of waving；After gesture identification operation is waved in starting, if the distance measuring sensor currently detected duration in the preset range of robot there are object in values, is recorded as once waving to operate；If distance measuring sensor is currently detected, there are the duration of object not in values in the preset range of robot, or distance measuring sensor it is currently detected in the preset range of robot there are object to distance measuring sensor detect next time in the preset range of robot there are the time interval of object be greater than threshold value when, stopping wave gesture identification operation；When stopping waving gesture identification operation, corresponding operation is executed to robot according to wave number of operations and the preset mapping table of record.

Description

Robot control method, device and robot based on gesture identification

Technical field

The present invention relates to intelligent appliance technology technical field more particularly to a kind of robot controlling parties based on gesture identification Method, control device and robot.

Background technique

Domestic robot used at present manipulation when usually require user bend over key either use mobile phone, Remote controler controls, and the not very convenient user of these modes of operation uses, and can not improve user to the usage experience of product.

Summary of the invention

The purpose of the embodiment of the present invention is that provide a kind of robot control method based on gesture identification, control device and Robot, can the gesture identification based on user corresponding operation is executed to robot, it is user-friendly, improve user to production The experience of product, and it is at low cost.

To achieve the above object, the embodiment of the invention provides a kind of robot control method based on gesture identification, packets Include step:

When being detected in the preset range of robot by distance measuring sensor there are when object, then start gesture knowledge of waving It does not operate；

After gesture identification operation is waved in starting, if the currently detected preset range in robot of the distance measuring sensor Inside there is the duration of object in values, is then recorded as once waving to operate；If the distance measuring sensor is current Detect that there are the duration of object not in values in the preset range of robot or the ranging senses Device is currently detected, and there are objects in the preset range of robot is detected next time to the distance measuring sensor in robot Preset range in when being greater than threshold value there are the time interval of object, gesture identification of waving described in stopping operation；

When gesture identification of waving described in stopping operation, wave according to record number of operations and preset mapping table Corresponding operation is executed to robot；Wherein, the mapping table, which records, waves number of operations and executes the corresponding relationship operated.

As an improvement of the above scheme, when detecting that there are objects in the preset range of robot by distance measuring sensor And start wave gesture identification operation when, further comprise the steps of:

It is shone by control robot and/or sounding prompts the user to carry out waving to operate.

As an improvement of the above scheme, the preset range is 50cm~120cm.

As an improvement of the above scheme, the distance measuring sensor be laser range sensor, ultrasonic distance-measuring sensor or Infrared distance sensor.

As an improvement of the above scheme, after gesture identification operation is waved in starting, the ranging is judged by the following method Sensor is currently detected, and there are objects in the preset range of robot is detected next time to the distance measuring sensor in machine There are the time intervals of object to be greater than threshold value in the preset range of device people:

After gesture identification operation is waved in starting, when the distance measuring sensor detects the preset range in robot for the first time When inside there is object, first control signal is issued to start the first timer and starts timing；

After gesture identification operation is waved in starting, when the distance measuring sensor detected each time in machine in addition to for the first time There are when object in the preset range of people, sending second control signal is to control the first timer reclocking；

When timing time when first timer receives the second control signal is greater than threshold value, then institute is judged Stating distance measuring sensor, currently detected there are objects in the preset range of robot detects next time to the distance measuring sensor To there are the time intervals of object to be greater than threshold value in the preset range of robot.

As an improvement of the above scheme, after gesture identification operation is waved in starting, the ranging is judged by the following method Sensor is currently detected, and whether there are the duration of object in values in the preset range of robot:

After gesture identification operation is waved in starting, the preset range in robot is detected when the distance measuring sensor moment When inside there is object, third control signal is issued to start the second timer and starts timing；

After starting the second timer and starting timing, do not detect when the distance measuring sensor moment in the pre- of robot If when in range there are the 4th control signal when object, is issued to stop second timer；

Timing time when second timer receives the 4th control signal falls into the values Interior, then judging the distance measuring sensor, currently detected there are the duration of object default in the preset range of robot It is worth in range；Otherwise judge the distance measuring sensor it is currently detected in the preset range of robot there are object it is lasting when Between not in values.

As an improvement of the above scheme, the values are greater than the threshold value.

As an improvement of the above scheme, the distance measuring sensor is located at the top of the robot.

As an improvement of the above scheme, executing the corresponding operation to robot includes starting to work or stopping working.

As an improvement of the above scheme, start/stop described waving by a riming instructions, control instruction or switch order The operation of hand gesture identification.

Correspondence of the embodiment of the present invention provides a kind of robot controller based on gesture identification, comprising:

Gesture identification of waving operates starting module, for working as the preset range detected by distance measuring sensor in robot When inside there is object, then start gesture identification operation of waving；

Operation judges of waving module, for starting wave gesture identification operation after, if the distance measuring sensor is currently examined The duration in the preset range of robot there are object is measured in values, then is recorded as once waving to grasp Make；If the distance measuring sensor is currently detected, there are the duration of object not in preset value in the preset range of robot In range or the distance measuring sensor currently detected there are objects in the preset range of robot senses to the ranging Device detects that there are the time intervals of object greater than threshold value in the preset range of robot next time when, hand of waving described in stopping Gesture identification operation；

Execution module, for wave described in the stopping gesture identification operation when, number of operations of waving according to record Corresponding operation is executed to robot with preset mapping table；Wherein, the mapping table, which records, waves number of operations and executes behaviour The corresponding relationship of work.

As an improvement of the above scheme, the gesture identification operation starting module of waving is also used to: being sensed when by ranging When device detects that starting gesture identification of waving there are object in the preset range of robot operates, passes through and control machine human hair Light and/or sounding prompt user to carry out waving to operate.

As an improvement of the above scheme, the preset range is 50cm~120cm.

As an improvement of the above scheme, the operation judges module of waving includes:

First control signal generation unit, for after gesture identification operation is waved in starting, when the distance measuring sensor is first It is secondary to detect in the preset range of robot there are when object, first control signal is issued to start in terms of the first timer starts When；

Second control signal generation unit, for starting wave gesture identification operation after, when the distance measuring sensor removes Outer for the first time detects that sending second control signal is there are when object in the preset range of robot to control each time State the first timer reclocking；

First judging unit, the timing time when first timer receives the second control signal are greater than threshold When value, then judging the distance measuring sensor, currently detected there are objects in the preset range of robot senses to the ranging Device detects that there are the time intervals of object to be greater than threshold value in the preset range of robot next time.

As an improvement of the above scheme, the operation judges module of waving further comprises:

Third control signal generation unit, for starting wave gesture identification operation after, when the distance measuring sensor wink Between detect in the preset range of robot there are when object, issue third control signal to start in terms of the second timer starts When；

4th control signal generation unit, for starting after the second timer starts timing, when the distance measuring sensor Moment does not detect that there are when object, issue the 4th control signal to stop in terms of described second in the preset range of robot When device timing；

Second judgment unit is fallen for the timing time when second timer receives the 4th control signal Enter in the values, then judging the distance measuring sensor, currently detected there are objects in the preset range of robot Duration in values；Otherwise judge that the distance measuring sensor is currently detected in the preset range of robot There are the duration of object not in values.

As an improvement of the above scheme, it is described wave operation judges module by issue a riming instructions, control instruction or Switch order operates to start/stop the gesture identification of waving.

Compared with prior art, a kind of robot control method and control device based on gesture identification disclosed by the invention It is detected in the preset range of robot by distance measuring sensor there are when object, then starts gesture identification operation of waving, Starting is waved after gesture identification operation, if the distance measuring sensor is currently detected, there are objects in the preset range of robot Duration in values, then be recorded as once waving to operate；If the distance measuring sensor is currently detected in machine There are the duration of object in the preset range of device people not in values or the distance measuring sensor current detection To the preset range detected there are object to the distance measuring sensor in the preset range of robot in robot next time When the time interval that inside there is object is greater than threshold value, gesture identification of waving described in stopping operation；And gesture of waving described in the stopping When identification operation, wave according to record number of operations and preset mapping table execute corresponding operation to robot；Its In, the mapping table, which records, waves number of operations and executes the corresponding relationship operated.It can be based on the hand of user to realize Gesture identification executes corresponding operation (such as operation of starting to work or stop working) to robot, bends over key without user Either controlled using mobile phone, remote controler, it is user-friendly, improve experience of the user to product.

The embodiment of the invention also provides a kind of robot control methods based on gesture identification, comprising steps of

When being recognized in the coverage of robot by camera there are when object, then start the gesture identification behaviour that waves Make；

After gesture identification operation is waved in starting, if the camera currently recognizes the coverage memory in robot Object duration in values, then be recorded as once waving to operate；If the camera currently recognizes There are the duration of object in the coverage of robot not in values or the camera currently recognizes It recognizes there are object to the camera in the coverage of robot and exists in the coverage of robot next time When the time interval of object is greater than threshold value, gesture identification of waving described in stopping operation；

As an improvement of the above scheme, when being recognized in the coverage of robot by camera, there are objects to open When dynamic gesture identification of waving operates, further comprise the steps of:

As an improvement of the above scheme, after gesture identification operation is waved in starting, the camera shooting is judged by the following method Head currently recognizes in the coverage of robot the bat recognized next time there are object and the camera in robot Take the photograph in range there are the time interval of object be greater than threshold value:

Based on the filming frequency of the camera, by judging that the camera recognizes in the coverage of robot From having to without there are object moment, is recognized to the camera and there is object wink from scratch in the coverage of robot Between the frame number that is passed through time interval is calculated；

When the time interval is greater than threshold value, then judge that the camera currently recognizes the coverage in robot Inside there is object to be greater than to the time interval that the camera recognizes in the coverage of robot there are object next time Threshold value.

As an improvement of the above scheme, after gesture identification operation is waved in starting, the camera shooting is judged by the following method Head currently recognizes in the coverage of robot that there are the duration of object whether in values:

Based on the filming frequency of the camera, by judging that the camera recognizes in the preset range of robot There is object moment from scratch, recognizes in the preset range of robot to the camera from having to without there are object winks Between the frame number that is passed through the duration is calculated；

It is fallen into the values when the duration, then judges that the distance measuring sensor is currently detected in machine Duration in the preset range of device people there are object is in values；Otherwise judge that the distance measuring sensor is currently examined Measure in the preset range of robot that there are the duration of object not in values.

As an improvement of the above scheme, it can identify in the following manner in the coverage of camera with the presence or absence of object:

When robot is in halted state, camera is taken pictures according to predeterminated frequency, the front and back two that camera is continuously shot It opens photo to compare, if the matching degree that photo is opened in front and back two is greater than the set value, be identified as in the coverage of robot There is no objects；If the matching degree that photo is opened in front and back two is less than setting value, it is identified as existing in the coverage of robot Object；

When robot is kept in motion, camera is taken pictures according to predeterminated frequency, the front and back two that camera is continuously shot It opens photo to compare, if front and back shoots two photos and there was only small translation difference, is identified as the shooting in robot Object is not present in range；If front and back two, which is opened, not only translational difference, and there are also whether there is or not the momentary differences of object, then identifies For there are objects in the coverage of robot.

As an improvement of the above scheme, the filming frequency of the camera is 10~50 frames/second.

As an improvement of the above scheme, the filming frequency of the camera is 20~30 frames/second.

As an improvement of the above scheme, the camera is located at the top of the robot.

Gesture identification of waving operates starting module, for working as the coverage memory recognized by camera in robot In object, then start gesture identification operation of waving；

Operation judges of waving module, for starting wave gesture identification operation after, if the camera currently recognizes Duration in the coverage of robot there are object in values, then is recorded as once waving to operate；If The camera currently recognizes in the coverage of robot that there are the duration of object not in values, or Camera described in person currently recognizes in the coverage of robot that there are objects to recognize next time to the camera When being greater than threshold value there are the time interval of object in the coverage of robot, gesture identification of waving described in stopping operation；

As an improvement of the above scheme, the gesture identification operation starting module of waving is also used to: being known when by camera Be clipped in the coverage of robot start there are object wave gesture identification operation when, by control robot shine And/or sounding prompts the user to carry out waving to operate.

First frame counting number unit, based on the filming frequency of the camera, by judging that the camera recognizes From having to without there are objects in the coverage of robot, recognize in the coverage of robot to the camera from nothing Time interval is calculated to there is the frame number passed through there are object；

First judging unit, for when the time interval is greater than threshold value, then judging that the camera currently recognizes It recognizes there are object to the camera in the coverage of robot and exists in the coverage of robot next time The time interval of object is greater than threshold value.

Second frame number counting unit, based on the filming frequency of the camera, by judging that the camera recognizes There is object from scratch in the coverage of robot, recognizes in the coverage of robot to the camera from having To the duration is calculated without the frame number passed through there are object；

Second judgment unit, falls into the values when the duration, then judges the distance measuring sensor The currently detected duration in the coverage of robot there are object is in values；Otherwise judge the survey Away from sensor, currently detected there are the duration of object not in values in the coverage of robot.

As an improvement of the above scheme, the gesture identification operation starting module of waving identifies camera in the following manner Coverage in whether there is object:

Compared with prior art, a kind of robot control method and control device based on gesture identification disclosed by the invention It is recognized in the coverage of robot by camera there are when object, then starts gesture identification operation of waving, starting Gesture identification of waving operation after, if the camera currently recognize in the coverage of robot there are object it is lasting when Between in values, then be recorded as once waving to operate；If the camera currently recognizes the shooting model in robot Enclose that interior there are the duration of object not in values or the camera currently recognizes the shooting in robot The time interval in the coverage of robot there are object is recognized there are object to the camera in range next time When greater than threshold value, gesture identification of waving described in stopping operation；And wave described in the stopping gesture identification operation when, according to record Wave number of operations and the preset mapping table execute corresponding operation to robot；Wherein, the mapping table record is waved Number of operations and the corresponding relationship for executing operation.It is thereby achieved that can the gesture identification based on user to robot execute pair The operation (such as operation of starting to work or stop working) answered, without user bend over key either use mobile phone, remote control Device controls, user-friendly, improves experience of the user to product.

The embodiment of the invention also provides a kind of robots, including the robot control as described above based on gesture identification Device.

Detailed description of the invention

Fig. 1 is a kind of flow diagram of the robot control method based on gesture identification in the embodiment of the present invention 1.

Fig. 2 is a kind of specific implementation flow chart of the robot control method based on gesture identification in the embodiment of the present invention 1.

Fig. 3 is a kind of specific implementation flow chart of the robot control method based on gesture identification in the embodiment of the present invention 1.

Fig. 4 is a kind of flow diagram of the robot control method based on gesture identification in the embodiment of the present invention 2.

Fig. 5 is a kind of specific implementation flow chart of the robot control method based on gesture identification in the embodiment of the present invention 2.

Fig. 6 is a kind of specific implementation flow chart of the robot control method based on gesture identification in the embodiment of the present invention 2.

Fig. 7 a~Fig. 7 b is that a kind of gesture of the robot control method based on gesture identification is waved in the embodiment of the present invention 2 Dynamic schematic diagram.

Fig. 8 is a kind of structural block diagram of the robot controller based on gesture identification in the embodiment of the present invention 3.

Fig. 9 is a kind of operation judges mould of waving of the robot controller based on gesture identification in the embodiment of the present invention 3 The structural block diagram of block.

Figure 10 is a kind of structural block diagram of the robot controller based on gesture identification in the embodiment of the present invention 4.

Figure 11 is a kind of operation judges mould of waving of the robot controller based on gesture identification in the embodiment of the present invention 4 The structural block diagram of block.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

It is a kind of process for robot control method based on gesture identification that the embodiment of the present invention 1 provides referring to Fig. 1 Figure, which includes step S11~S13:

S11, when being detected by distance measuring sensor in the preset range of robot there are when object, then starting is waved hand Gesture identification operation；

S12, after gesture identification operation is waved in starting, if the distance measuring sensor is currently detected in the default of robot Duration in range there are object in values, then is recorded as once waving to operate；If the distance measuring sensor It is currently detected that there are the duration of object in the preset range of robot not in values or the ranging Sensor is currently detected, and there are objects in the preset range of robot is detected next time to the distance measuring sensor in machine When being greater than threshold value there are the time interval of object in the preset range of device people, gesture identification of waving described in stopping operation；

When S13, gesture identification of waving described in stopping operation, wave number of operations and preset to reflect according to record Firing table executes corresponding operation to robot；Wherein, the mapping table, which records, waves number of operations and executes the corresponding pass operated System.

In step s 11, when detecting that there are objects to start in the preset range of robot by distance measuring sensor When gesture identification of waving operates, further comprise the steps of:

It should be understood that the indicator light in no user's operation in robot goes out, only when passing through distance measuring sensor Sense that ability control instructions lamp lights, while can be with voice prompting when having object (for example, hand of user) in preset range User carries out gesture operation above.

Wherein, the preset range is 50cm~120cm, preferably 60cm~100cm.The distance measuring sensor is laser Distance measuring sensor, ultrasonic distance-measuring sensor or infrared distance sensor.

Wherein, it is described by distance measuring sensor detect in the preset range of robot exist object refer to, have object It has passed through the detection zone of distance measuring sensor.The range that the preset range can be detected effectively according to sensor is set, with Family is waved for operation, i.e., by hand as being an object, the preset range is hand to artificially passing through between distance measuring sensor Preset relatively reasonable distance is tested, this range has determined the detection range of the present apparatus.Distance value is within that range When be judged as detecting it is in one's hands, distance value exceed the range when be judged as that hand is not detected.Choose reasonable range have it is following Some criterion, but not limited to this: preset range should need the specific detection of reference sensor within the scope of sensor instrument distance Characteristic and set, and detection range appropriate is set, when having object to be detected by a sensor but distance is beyond the range, is calculated Method is determined as that no object passes through；Only there is hand channel is out-of-date just to can be regarded as effective detection within a preset range.

In the present embodiment, the distance measuring sensor is set at the top of the robot, in favor of in detection preset range With the presence or absence of object.

When it is implemented, can lead to when being detected by distance measuring sensor in the preset range of robot there are when object It crosses and sends a riming instructions, control instruction or switch order to start/stop the gesture identification operation of waving.

In step s 12, as shown in Fig. 2, judging the survey by the following method after gesture identification operation is waved in starting Away from sensor, currently detected there are objects in the preset range of robot detects next time to the distance measuring sensor There are the time intervals of object to be greater than threshold value in the preset range of robot:

S1211, starting wave gesture identification operation after, when the distance measuring sensor is detected for the first time in the pre- of robot If there are when object, issue first control signal to start timing to start the first timer in range；

S1212, starting wave gesture identification operation after, when the distance measuring sensor detecting in addition to for the first time each time There are when object in the preset range of robot, sending second control signal by control first timer again in terms of When；

When S1213, the timing time when first timer receives the second control signal are greater than threshold value, then Judging the distance measuring sensor, currently detected there are under object to the distance measuring sensor one in the preset range of robot It is secondary to detect that there are the time intervals of object to be greater than threshold value in the preset range of robot.

Wherein, the threshold value is less than the values.

As shown in figure 3, after gesture identification operation is waved in starting, judging institute by the following method in the step S12 Stating distance measuring sensor, currently detected whether there are the duration of object in values in the preset range of robot It is interior:

S1221, starting wave gesture identification operation after, detect when the distance measuring sensor moment in the pre- of robot If there are when object, issue third control signal to start timing to start the second timer in range；

S1222, starting after the second timer starts timing, do not detecting when the distance measuring sensor moment in machine When in the preset range of people there are the 4th control signal when object, is issued to stop second timer；

S1223, the timing time when second timer receives the 4th control signal fall into described default It is worth in range, then judging the distance measuring sensor, currently detected there are the duration of object in the preset range of robot In values；Otherwise judging the distance measuring sensor, currently detected there are objects in the preset range of robot Duration is not in values.

In step s 13, executing the corresponding operation to robot includes start-up operation or the operation that stops working.

Everybody top of machine is equipped with distance measuring sensor.Believed using whether having to reflect at the top of distance measuring sensor scanning machine people Number.If reflection signal is arranged at top, robot issues acousto-optic instruction, and at this moment operator is brandishing gesture, and machine can be realized The operation of people.Wherein, distance measuring sensor includes but is not limited to laser range sensor/infrared distance sensor/ultrasonic distance measurement Sensor/TOF measurement sensor).

This implementation realizes that user gesture is identified by single distance measuring sensor, and single distance measuring sensor is set to robot Top, after robot is powered, whether distance measuring sensor has object above sniffing robot always, when sensing that object is in certain When range (such as 60cm-100cm), issues acousto-optic indication signal and continue to detect.If top be operator sensor just Top or so is waved, and distance measuring sensor can detect in one's hands --- and it can't detect hand, so recycle, until stopping waving.

In addition, the present embodiment is arranged from (preferably 60cm-100cm) as anti-tampering by the way that distance measuring sensor institute's ranging is added It applies, robot is avoided to identify mistake.

In addition, top has other objects such as furniture at runtime for robot, in order to avoid robot identification mistake (is not Gesture, but other objects).Anti-interference method is added in the present embodiment, specific as follows: monitoring hand (object) is on distance measuring sensor The square residence time, (speed is brandished above because of hand can be than very fast, and the residence time is less than a certain particular value and is greater than another An outer particular value, the i.e. duration of object are just that hand is brandished above in values).If interval time Other interference are then considered greater than a certain definition time (threshold value), are not gesture.If detecting object and object being not detected The switching time of body is shorter (that is, time interval is less than threshold value), and number of waving is that predetermined number of times is then considered normal operating (i.e. Number of waving reaches in preset mapping table corresponding executable operation).Number can be waved by detection to judge user's operation Content (such as starting to work, stop working).

As it can be seen that disclosed in the present embodiment it is disclosed it is a kind of based on the robot control method of gesture identification pass through ranging sense Device detects in the preset range of robot there are when object, then starting is waved gesture identification operation, waves gesture in starting After identification operation, if the distance measuring sensor currently detected duration in the preset range of robot there are object exists In values, then it is recorded as once waving to operate；If the currently detected default model in robot of the distance measuring sensor Enclose that interior there are the duration of object not in values or the distance measuring sensor is currently detected in robot There are objects to the distance measuring sensor to detect that there are objects in the preset range of robot next time in preset range When time interval is greater than threshold value, gesture identification of waving described in stopping operation；And wave described in the stopping gesture identification operation when, root Corresponding operation is executed to robot according to number of operations and preset mapping table is waved described in record；Wherein, the mapping table It records and waves number of operations and execute the corresponding relationship operated.To realize can the gesture identification based on user to robot Corresponding operation (such as operation of starting to work or stop working) is executed, either uses hand without user's key of bending over Machine, remote controler control, user-friendly, improve experience of the user to product.

It referring to fig. 4, is that the process of a kind of robot control method based on gesture identification that the embodiment of the present invention 2 provides is shown It is intended to, which includes step S21~S23:

S21, when being recognized in the coverage of robot by camera, there are when object, then start gesture of waving to know It does not operate；

S22, starting wave gesture identification operation after, if the camera currently recognizes the coverage in robot Inside there is the duration of object in values, is then recorded as once waving to operate；If the camera currently identifies To there are the duration of object in the coverage of robot not in values or the camera is currently known It is clipped in the coverage of robot that there are objects to recognize in the coverage of robot next time to the camera When being greater than threshold value there are the time interval of object, gesture identification of waving described in stopping operation；

When S23, gesture identification of waving described in stopping operation, wave number of operations and preset to reflect according to record Firing table executes corresponding operation to robot；Wherein, the mapping table, which records, waves number of operations and executes the corresponding pass operated System.

Wherein, in the step s 21, described to recognize in the coverage of robot that there are objects to be by camera Refer to, the shooting area that moment has object to have passed through camera.Can be in coverage of the pass-through mode to identify camera specifically It is no that there are object (for example, hands):

Mode A: robot is in halted state, and camera is taken pictures according to predeterminated frequency, before camera is continuously shot Two photos compare afterwards, if the matching degree that photo is opened in front and back two is relatively high (being greater than the set value), are identified as in machine Object is not present in the coverage of device people；If front and back two, which is opened, has apparent difference (matching degree is less than setting value), identification For there are objects in the coverage of robot.

Mode B: robot is kept in motion, and camera is taken pictures according to predeterminated frequency, before camera is continuously shot Two photos compare afterwards, if front and back shoots two photos and there was only faint translation difference, are identified as in robot Object is not present in coverage；If front and back two, which is opened, not only translational difference, and also whether there is or not the momentary differences of object, then It is identified as in the coverage of robot that there are objects.It should be understood that the faint translation difference can be and set in advance The translation reference value set.

In the step s 21, it waves when recognizing to start there are object in the coverage of robot by camera When gesture identification operates, further comprise the steps of:

In the present embodiment, whether the camera is set at the top of the robot, in favor of depositing in detection coverage In object.When it is implemented, transmission can be passed through when being recognized in the coverage of robot by camera there are when object One riming instructions, control instruction or switch order operate to start/stop the gesture identification of waving.

In step S22, as shown in figure 5, being taken the photograph described in judgement by the following method after gesture identification operation is waved in starting As head currently recognizes in the coverage of robot, there are objects and the camera is recognized next time in robot There are the time intervals of object to be greater than threshold value in coverage:

S2211, the filming frequency based on the camera, by judging that the camera recognizes the shooting in robot From having to without there are object moment in range, recognizes to the camera and exist from scratch in the coverage of robot Time interval is calculated in frame number that object moment is passed through；

S2212, when the time interval be greater than threshold value when, then judge that the camera currently recognizes the bat in robot It takes the photograph in range and to recognize in the coverage of robot that there are between the time of object next time there are object to the camera Every greater than threshold value.

In step S22, as shown in fig. 6, being taken the photograph described in judgement by the following method after gesture identification operation is waved in starting As head currently recognizes in the coverage of robot, whether there are the duration of object in values:

S2221, the filming frequency based on the camera, by judging that the camera is recognized in the default of robot There is object moment in range from scratch, recognizes in the preset range of robot to the camera from having no presence The duration is calculated in frame number that object moment is passed through；

S2222, it is fallen into the values when the duration, then judges the distance measuring sensor current detection To the duration in the preset range of robot there are object in values；Otherwise judge the distance measuring sensor It is currently detected that there are the duration of object not in values in the preset range of robot.

Wherein, the filming frequency of the camera is 10~50 frames/second, preferably 20~30 frames/second.The preset value model It encloses and is greater than the threshold value.

In the following, the present embodiment is described in detail in conjunction with Fig. 7 a~Fig. 7 b.By taking user waves as an example, hand, which is regarded, is One object will form a series of picture as long as object is brandished on camera, by comparing the multiple pictures continuously clapped Comparison is to realize.Such as 5 photos that Fig. 7 a~Fig. 7 b show hand in camera upper direction, and CCD/CMOS was continuously photographed (or the 5 frame images intercepted inside video flowing), it is possible to understand that, 5 photos are only illustrated, and 3 or 8 are also possible to , when hand is brandished on camera CCD/CMOS relative to static state when have an object and inside move, by with The photo comparison clapped when static, which may determine that above, has object quickly moving.

5 photos shown in Fig. 7 a~Fig. 7 b are a series of photos of the hand from left movement to the right, are existed by object (hand) It from left to right may determine that in CCD/CMOS and wave once, to may determine that waved once again from right to left.Can so it remember Record number of waving.

For the above-mentioned duration referred to, can calculate in the following way: camera frequency of taking pictures is known (soft Part setting), it is assumed that 24 photos of taking pictures for 1 second (corresponding video flowing is 24 frames/second) so clap the time interval of two serial-grams It is 1/24 second, that is, 0.042 second, that can occur by judgment object (hand) in CCD/CMOS to the photographed photograph that disappears Piece quantity carrys out calculating prolongeding time: it is exemplified below: assuming that hand has taken 5 photos to going out from the right from left entrance CCD, then Hand residence time in CCD is 0.21 second, then the duration is 0.21 second.

For the above-mentioned time interval referred to, can calculate in the following way: camera frequency of taking pictures is known (soft Part setting), it is assumed that 24 photos of taking pictures for 1 second (corresponding video flowing is 24 frames/second) so clap the time interval of two serial-grams It is 1/24 second, that is, 0.042 second, then can be photographed from disappearing to occurring in CCD/CMOS by judgment object (hand) Number of pictures calculate time interval.It is exemplified below: assuming that hand has taken 5 photos to going out from the right from left entrance CCD, So hand residence time in CCD is 0.21 second, and hand is waved to the right will not just the visual field CCD be just stopped out, it is possible to It also will continue to move right, it is assumed that and 3 photos have been taken, then the time is 0.126 second, entrance the right CCD is come back to from the right 3 photos have been taken in the visual field again, and the time is 0.126 second, enter from the right and go out to clap 5 photos from the left side, the time is 0.21 second. It so can be according to two 3 photos (namely time of the hand not on CCD calculates), that is, 0.126*2=0.252 seconds.

The present embodiment by camera carry out gesture identification recognition methods solve the problems, such as gesture identification (because Much for example finger closes up the shape of hand, and finger is opened, and clenching fist etc. will identify), this method identifies hand as object, Therefore, what is continuously brandished above is not that hand is also possible to identify from gesture.Interfere in order to prevent, introduce the duration, It is anti-interference every time and number of waving.Usual situation not will form successive projection and section generally if it is interference Time interval, which has, repeatedly waves.

As it can be seen that a kind of robot control method based on gesture identification disclosed in the present embodiment is recognized by camera There are when object in the coverage of robot, then start gesture identification operation of waving, after gesture identification operation is waved in starting, If the camera currently recognizes the duration in the coverage of robot there are object in values, It is recorded as once waving to operate；If the camera currently recognize in the coverage of robot there are object it is lasting when Between not in values or the camera currently recognizes in the coverage of robot that there are objects to described Camera recognizes next time when being greater than threshold value there are the time interval of object in the coverage of robot, waves described in stopping The operation of hand gesture identification；And wave described in the stopping gesture identification operation when, the number of operations and pre- of waving according to record If mapping table corresponding operation is executed to robot；Wherein, the mapping table record waves what number of operations was operated with execution Corresponding relationship.It is thereby achieved that can the gesture identification based on user corresponding operation executed to robot (such as start to work Or the operation that stops working), it is either controlled using mobile phone, remote controler without user's key of bending over, it is user-friendly, Improve experience of the user to product.

It is a kind of structural block diagram of the robot controller based on gesture identification in the embodiment of the present invention 3 with reference to Fig. 8, The control device includes:

Gesture identification of waving operates starting module 31, for working as the default model detected by distance measuring sensor in robot Enclose interior there are when object, then starting is waved gesture identification operation；

Operation judges of waving module 32, for starting wave gesture identification operation after, if the distance measuring sensor is current The duration in the preset range of robot there are object is detected in values, then is recorded as once waving to grasp Make；If the distance measuring sensor is currently detected, there are the duration of object not in preset value in the preset range of robot In range or the distance measuring sensor currently detected there are objects in the preset range of robot senses to the ranging Device detects that there are the time intervals of object greater than threshold value in the preset range of robot next time when, hand of waving described in stopping Gesture identification operation；

Execution module 33, for wave described in the stopping gesture identification operation when, wave to operate according to record time Several and preset mapping table executes corresponding operation to robot；Wherein, the mapping table records wave number of operations and execution The corresponding relationship of operation.

Wherein, the gesture identification operation starting module of waving is also used to: being detected when by distance measuring sensor in machine Start in the preset range of people there are object wave gesture identification operation when, by control robot shine and/or sounding come Prompt user carries out waving to operate.

As shown in figure 9, the operation judges module 32 of waving specifically includes:

First control signal generation unit 321, for starting wave gesture identification operation after, when the distance measuring sensor Detect that there are when object, issue first control signal to start to start the first timer in the preset range of robot for the first time Timing；

Second control signal generation unit 322, for starting wave gesture identification operation after, when the distance measuring sensor Sending second control signal is there are when object in the preset range of robot to control for detecting in addition to for the first time each time The first timer reclocking；

First judging unit 323, the timing time when first timer receives the second control signal are big When threshold value, then judging the distance measuring sensor, currently detected there are objects to the ranging in the preset range of robot Sensor detects that there are the time intervals of object to be greater than threshold value in the preset range of robot next time；

Third control signal generation unit 324, for starting wave gesture identification operation after, when the distance measuring sensor Moment detects that there are when object, issue third control signal to start to start the second timer in the preset range of robot Timing；

4th control signal generation unit 325, for starting after the second timer starts timing, when the ranging senses Device moment does not detect that there are when object, issue the 4th control signal to stop described second in the preset range of robot When timer；And

Second judgment unit 326, for when second timer receive it is described 4th control signal when timing when Between fall into the values, then judge that the distance measuring sensor is currently detected and exist in the preset range of robot The duration of object is in values；Otherwise judge the currently detected default model in robot of the distance measuring sensor Enclose that interior there are the duration of object not in values.

When it is implemented, the operation judges module of waving is by issuing a riming instructions, control instruction or switch order To start/stop the gesture identification operation of waving.

Preferably, the values are greater than the threshold value.The distance measuring sensor is located at the top of the robot.On Stating and executing the corresponding operation to robot includes starting to work or stopping working.

The working principle and the course of work of robot controller based on gesture identification disclosed in this implementation and above-mentioned reality It is consistent to apply example 1, detailed process please refers to above-described embodiment 1, and details are not described herein.

It is a kind of structural block diagram of the robot controller based on gesture identification in the embodiment of the present invention 4 with reference to Figure 10, The control device includes:

Gesture identification of waving operates starting module 41, is recognized in the coverage of robot for working as by camera There are when object, then start gesture identification operation of waving；

Operation judges of waving module 42, for starting wave gesture identification operation after, if the camera currently identifies To the duration in the coverage of robot there are object in values, then it is recorded as once waving to operate； If the camera currently recognizes in the coverage of robot, there are the duration of object not in values, Or the camera currently recognizes in the coverage of robot that there are objects to recognize to the camera next time When being greater than threshold value there are the time interval of object in the coverage of robot, gesture identification of waving described in stopping operation；With And

Execution module 43, for wave described in the stopping gesture identification operation when, wave to operate according to record time Several and preset mapping table executes corresponding operation to robot；Wherein, the mapping table records wave number of operations and execution The corresponding relationship of operation.

Wherein, in gesture identification operation starting module 41 of waving, the shooting model in robot is recognized by camera It encloses interior presence to object refer to, the shooting area that moment has object to have passed through camera.Specifically can pass-through mode identify camera Coverage in whether there is object (for example, hand):

Mode B: robot is kept in motion, and camera is taken pictures according to predeterminated frequency, before camera is continuously shot Two photos compare afterwards, if front and back shoots two photos and there was only faint translation difference, are identified as in robot Object is not present in coverage；If front and back two, which is opened, not only translational difference, and also whether there is or not the momentary differences of object, then It is identified as in the coverage of robot that there are objects.

Wherein, the gesture identification operation starting module 41 of waving is also used to: being recognized when by camera in robot Coverage in start when waving gesture identification operation there are object, shone by control robot and/or sounding mention Show that user carries out waving to operate.

As shown in figure 11, the operation judges module 42 of waving specifically includes:

First frame counting number unit 421, based on the filming frequency of the camera, by judging that the camera recognizes From having to without there are object in the coverage of robot, to the camera recognize in the coverage of robot from Time interval is calculated to there is the frame number passed through there are object in nothing；

First judging unit 422, for when the time interval is greater than threshold value, then judging that the camera currently identifies To there are objects to the camera to recognize the coverage memory in robot next time in the coverage of robot It is greater than threshold value in the time interval of object；

Second frame number counting unit 423, based on the filming frequency of the camera, by judging that the camera recognizes There is object from scratch in the coverage of robot, to the camera recognize in the coverage of robot from Have to the duration is calculated without the frame number passed through there are object；And

Second judgment unit 424, falls into the values when the duration, then judges the ranging sensing The device currently detected duration in the coverage of robot there are object is in values；Otherwise described in judgement Distance measuring sensor is currently detected, and there are the duration of object not in values in the coverage of robot.

Wherein, the filming frequency of the camera is 10~50 frames/second, preferably 20~30 frames/second.

As the improvement of the present embodiment, the values are greater than the threshold value.The camera is located at the machine At the top of people.It is above-mentioned that the corresponding operation is executed including starting to work or stopping working to robot.

The working principle and the course of work of robot controller based on gesture identification disclosed in this implementation and above-mentioned reality It is consistent to apply example 2, detailed process please refers to above-described embodiment 2, and details are not described herein.

Another embodiment of the present invention also discloses a kind of robot, including described in embodiment as above based on gesture identification Robot controller.

It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual It needs that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.In addition, device provided by the invention In embodiment attached drawing, the connection relationship between module indicate between them have communication connection, specifically can be implemented as one or A plurality of communication bus or signal wire.Those of ordinary skill in the art are without creative efforts, it can understand And implement.

Through the above description of the embodiments, it is apparent to those skilled in the art that the present invention can borrow Help software that the mode of required common hardware is added to realize, naturally it is also possible to by specialized hardware include specific integrated circuit, specially It is realized with CPU, private memory, special components and parts etc..Under normal circumstances, all functions of being completed by computer program are ok It is easily realized with corresponding hardware, moreover, being used to realize that the specific hardware structure of same function is also possible to a variety of more Sample, such as analog circuit, digital circuit or special circuit etc..But software program is real in situations more for the purpose of the present invention It is now more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words makes the prior art The part of contribution can be embodied in the form of software products, which is stored in the storage medium that can be read In, such as the floppy disk of computer, USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory Device (RAM, Random Access Memory), magnetic or disk etc., including some instructions are with so that a computer is set Standby (can be personal computer, server or the network equipment etc.) executes method described in each embodiment of the present invention.

The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as Protection scope of the present invention.

Claims

1. a kind of robot control method based on gesture identification, which is characterized in that comprising steps of

When being detected in the preset range of robot by distance measuring sensor there are when object, then start the gesture identification behaviour that waves Make；

After gesture identification operation is waved in starting, if the currently detected preset range memory in robot of the distance measuring sensor Object duration in values, then be recorded as once waving to operate；If the distance measuring sensor current detection To there are the duration of object in the preset range of robot not in values or the distance measuring sensor is worked as Before detect that in the preset range of robot, there are objects and detected next time to the distance measuring sensor in the pre- of robot If be greater than threshold value there are the time interval of object in range, gesture identification of waving described in stopping operation；

When gesture identification of waving described in stopping operation, wave according to record number of operations and preset mapping table are to machine Device people executes corresponding operation；Wherein, the mapping table, which records, waves number of operations and executes the corresponding relationship operated.

2. as described in claim 1 based on the robot control method of gesture identification, which is characterized in that sensed when by ranging When device detects that starting gesture identification of waving there are object in the preset range of robot operates, further comprise the steps of:

3. as described in claim 1 based on the robot control method of gesture identification, which is characterized in that the preset range is 50cm~120cm.

4. as described in claim 1 based on the robot control method of gesture identification, which is characterized in that the distance measuring sensor is Laser range sensor, ultrasonic distance-measuring sensor, TOF measurement sensor or infrared distance sensor.

5. as described in claim 1 based on the robot control method of gesture identification, which is characterized in that starting wave gesture know Not Cao Zuo after, judging the distance measuring sensor by the following method, currently detected there are objects in the preset range of robot Detect that there are the time intervals of object to be greater than threshold value in the preset range of robot next time to the distance measuring sensor:

After gesture identification operation is waved in starting, when the distance measuring sensor detects the preset range memory in robot for the first time In object, first control signal is issued to start the first timer and starts timing；

After gesture identification operation is waved in starting, when the distance measuring sensor detected each time in robot in addition to for the first time There are when object in preset range, sending second control signal is to control the first timer reclocking；

When timing time when first timer receives the second control signal is greater than threshold value, then the survey is judged Away from sensor, currently detected there are objects in the preset range of robot detects next time to the distance measuring sensor There are the time intervals of object to be greater than threshold value in the preset range of robot.

6. as described in claim 1 based on the robot control method of gesture identification, which is characterized in that starting wave gesture know Not Cao Zuo after, judging the distance measuring sensor by the following method, currently detected there are objects in the preset range of robot Duration whether in values:

After gesture identification operation is waved in starting, the preset range memory in robot is detected when the distance measuring sensor moment In object, third control signal is issued to start the second timer and starts timing；

After starting the second timer and starting timing, the default model in robot is not detected when the distance measuring sensor moment Enclose it is interior there are when object, when issuing the 4th control signal to stop second timer；

Timing time when second timer receives the 4th control signal is fallen into the values, then Judging the distance measuring sensor, currently detected there are the duration of object in preset value model in the preset range of robot In enclosing；Otherwise judge the distance measuring sensor it is currently detected there are the duration of object in the preset range of robot not In values.

7. as described in claim 1 based on the robot control method of gesture identification, which is characterized in that the values are big In the threshold value.

8. as described in claim 1 based on the robot control method of gesture identification, which is characterized in that the distance measuring sensor position At the top of the robot.

9. as described in claim 1 based on the robot control method of gesture identification, which is characterized in that execute correspondence to robot The operation include start to work or stop working.

10. as described in claim 1 based on the robot control method of gesture identification, which is characterized in that by a riming instructions, Control instruction or switch order operate to start/stop the gesture identification of waving.

11. a kind of robot controller based on gesture identification characterized by comprising

Gesture identification of waving operates starting module, for working as the preset range memory detected by distance measuring sensor in robot In object, then start gesture identification operation of waving；

Operation judges of waving module, for starting wave gesture identification operation after, if the distance measuring sensor is currently detected Duration in the preset range of robot there are object in values, then is recorded as once waving to operate；If The distance measuring sensor is currently detected, and there are the duration of object not in values in the preset range of robot The interior or described distance measuring sensor is currently detected, and there are under object to the distance measuring sensor in the preset range of robot One-time detection to when being greater than threshold value there are the time interval of object in the preset range of robot, know by gesture of waving described in stopping It does not operate；

Execution module, for wave described in the stopping gesture identification operation when, the number of operations and pre- of waving according to record If mapping table corresponding operation is executed to robot；Wherein, the mapping table record waves what number of operations was operated with execution Corresponding relationship.

12. as claimed in claim 11 based on the robot controller of gesture identification, which is characterized in that the gesture of waving Identification operation starting module is also used to: when detecting that there are objects to open in the preset range of robot by distance measuring sensor It is dynamic wave gesture identification operation when, shone by control robot and/or sounding prompt user to carry out waving to operate.

13. as claimed in claim 11 based on the robot controller of gesture identification, which is characterized in that the preset range is 50cm~120cm.

14. as claimed in claim 11 based on the robot controller of gesture identification, which is characterized in that the distance measuring sensor For laser range sensor, ultrasonic distance-measuring sensor, TOF measurement sensor or infrared distance sensor.

15. as claimed in claim 11 based on the robot controller of gesture identification, which is characterized in that the operation of waving is sentenced Disconnected module includes:

First control signal generation unit, for starting wave gesture identification operation after, when the distance measuring sensor is examined for the first time It measures there are when object in the preset range of robot, sending first control signal starts timing to start the first timer；

Second control signal generation unit, for after gesture identification operation is waved in starting, when the distance measuring sensor is except for the first time Outer to be detected in the preset range of robot each time there are when object, sending second control signal is to control described the One timer reclocking；

First judging unit, the timing time when first timer receives the second control signal are greater than threshold value When, then judging the distance measuring sensor, currently detected there are objects to the distance measuring sensor in the preset range of robot Detect that there are the time intervals of object to be greater than threshold value in the preset range of robot next time.

16. as claimed in claim 11 based on the robot controller of gesture identification, which is characterized in that the operation of waving is sentenced Disconnected module further comprises:

Third controls signal generation unit, for being examined after gesture identification operation is waved in starting when the distance measuring sensor moment It measures there are when object in the preset range of robot, sending third control signal starts timing to start the second timer；

4th control signal generation unit, for starting after the second timer starts timing, when the distance measuring sensor moment Do not detect that there are when object, issue the 4th control signal to stop second timer in the preset range of robot Timing；

Second judgment unit falls into institute for the timing time when second timer receives the 4th control signal It states in values, then judges currently detected the holding there are object in the preset range of robot of the distance measuring sensor The continuous time is in values；Otherwise judge that the distance measuring sensor is currently detected to exist in the preset range of robot The duration of object is not in values.

17. as claimed in claim 11 based on the robot controller of gesture identification, which is characterized in that the values Greater than the threshold value.

18. as claimed in claim 11 based on the robot controller of gesture identification, which is characterized in that the distance measuring sensor At the top of the robot.

19. as claimed in claim 11 based on the robot controller of gesture identification, which is characterized in that robot execution pair The operation answered includes starting to work or stopping working.

20. as claimed in claim 11 based on the robot controller of gesture identification, which is characterized in that the operation of waving is sentenced Disconnected module starts/stops the gesture identification operation of waving by issuing a riming instructions, control instruction or switch order.

21. a kind of robot control method based on gesture identification, which is characterized in that comprising steps of

When being recognized in the coverage of robot by camera there are when object, then start gesture identification operation of waving；

After gesture identification operation is waved in starting, if the camera currently recognizes the existence in the coverage of robot The duration of body in values, then is recorded as once waving to operate；If the camera is currently recognized in machine There are the duration of object in the coverage of people not in values or the camera is currently recognized in machine Recognize in the coverage of robot there are object to the camera that there are objects in the coverage of device people next time Time interval when being greater than threshold value, gesture identification of waving described in stopping operation；

22. as claimed in claim 21 based on the robot control method of gesture identification, which is characterized in that when passing through camera It recognizes in the coverage of robot and to start when waving gesture identification operation there are object, further comprise the steps of:

23. as claimed in claim 21 based on the robot control method of gesture identification, which is characterized in that wave gesture in starting Identification operation after, judge by the following method the camera currently recognize in the coverage of robot there are object with The camera recognize next time in the coverage of robot there are the time interval of object be greater than threshold value:

Based on the filming frequency of the camera, by judging that the camera recognizes in the coverage of robot from having To without there are object moment, is recognized to the camera and there is object moment institute from scratch in the coverage of robot Time interval is calculated in the frame number of process；

When the time interval is greater than threshold value, then judge that the camera currently recognizes the coverage memory in robot Object to the camera recognize next time in the coverage of robot there are the time interval of object be greater than threshold value.

24. as claimed in claim 21 based on the robot control method of gesture identification, which is characterized in that wave gesture in starting After identification operation, judge that the camera currently recognizes in the coverage of robot that there are objects by the following method Whether the duration is in values:

Based on the filming frequency of the camera, by judging that the camera recognizes in the preset range of robot from nothing To having there are object moment, recognize in the preset range of robot to the camera from having to without there are object moment institutes The duration is calculated in the frame number of process；

It is fallen into the values when the duration, then judges that the camera is currently detected in the pre- of robot If the duration in range there are object is in values；Otherwise judge that the camera is currently detected in robot Preset range in there are the duration of object not in values.

25. as claimed in claim 21 based on the robot control method of gesture identification, which is characterized in that know in the following manner It whether there is object in the coverage of other camera:

When robot is in halted state, camera is taken pictures according to predeterminated frequency, the photograph of front and back two that camera is continuously shot Piece compares, if the matching degree that photo is opened in front and back two is greater than the set value, is identified as not depositing in the coverage of robot In object；If the matching degree that photo is opened in front and back two is less than setting value, it is identified as in the coverage of robot that there are objects；

When robot is kept in motion, camera is taken pictures according to predeterminated frequency, the photograph of front and back two that camera is continuously shot Piece compares, if front and back shoots two photos and there was only small translation difference, is identified as the coverage in robot It is interior that object is not present；If front and back two, which is opened, not only translational difference, and there are also whether there is or not the momentary differences of object, is then identified as There are objects in the coverage of robot.

26. as claimed in claim 25 based on the robot control method of gesture identification, which is characterized in that the bat of the camera Taking the photograph frequency is 10~50 frames/second.

27. as claimed in claim 21 based on the robot control method of gesture identification, which is characterized in that the values Greater than the threshold value.

28. as claimed in claim 21 based on the robot control method of gesture identification, which is characterized in that the camera is located at At the top of the robot.

29. as claimed in claim 21 based on the robot control method of gesture identification, which is characterized in that robot execution pair The operation answered includes starting to work or stopping working.

30. as claimed in claim 21 based on the robot control method of gesture identification, which is characterized in that referred to by a timing It enables, control instruction or switch order operate to start/stop the gesture identification of waving.

31. a kind of robot controller based on gesture identification characterized by comprising

Gesture identification of waving operates starting module, recognizes the existence in the coverage of robot by camera for working as When body, then start gesture identification operation of waving；

Operation judges of waving module, for starting wave gesture identification operation after, if the camera is currently recognized in machine Duration in the coverage of device people there are object in values, then is recorded as once waving to operate；If described Camera currently recognizes in the coverage of robot that there are the duration of object not in values, Huo Zhesuo It states camera and currently recognizes in the coverage of robot that there are objects to recognize next time to the camera in machine When being greater than threshold value there are the time interval of object in the coverage of people, gesture identification of waving described in stopping operation；

32. as claimed in claim 31 based on the robot controller of gesture identification, which is characterized in that the gesture of waving Identification operation starting module is also used to: being waved when recognizing to start there are object in the coverage of robot by camera When hand gesture identification operates, is shone by control robot and/or sounding prompts the user to carry out waving to operate.

33. as claimed in claim 31 based on the robot controller of gesture identification, which is characterized in that the operation of waving is sentenced Disconnected module includes:

First frame counting number unit, based on the filming frequency of the camera, by judging that the camera is recognized in machine From having to without there are objects in the coverage of people, recognized in the coverage of robot from scratch to the camera Time interval is calculated in the frame number that is passed through there are object；

First judging unit, for when the time interval is greater than threshold value, then judging that the camera is currently recognized in machine Recognize in the coverage of robot there are object to the camera that there are objects in the coverage of device people next time Time interval be greater than threshold value.

34. as claimed in claim 31 based on the robot controller of gesture identification, which is characterized in that the operation of waving is sentenced Disconnected module further comprises:

Second frame number counting unit, based on the filming frequency of the camera, by judging that the camera is recognized in machine There is object from scratch in the coverage of people, recognizes in the coverage of robot to the camera from having nothing The duration is calculated in the frame number that is passed through there are object；

Second judgment unit, falls into the values when the duration, then judges the camera current detection To the duration in the coverage of robot there are object in values；Otherwise judge that the camera is current Detect that there are the duration of object not in values in the coverage of robot.

35. as claimed in claim 31 based on the robot controller of gesture identification, which is characterized in that the gesture knowledge of waving Not Cao Zuo starting module identified in the coverage of camera in the following manner with the presence or absence of object:

36. as claimed in claim 35 based on the robot controller of gesture identification, which is characterized in that the bat of the camera Taking the photograph frequency is 10~50 frames/second.

37. as claimed in claim 31 based on the robot controller of gesture identification, which is characterized in that the values Greater than the threshold value.

38. as claimed in claim 31 based on the robot controller of gesture identification, which is characterized in that the camera is located at At the top of the robot.

39. as claimed in claim 31 based on the robot controller of gesture identification, which is characterized in that robot execution pair The operation answered includes starting to work or stopping working.

40. as claimed in claim 31 based on the robot controller of gesture identification, which is characterized in that the operation of waving is sentenced Disconnected module starts/stops the gesture identification operation of waving by issuing a riming instructions, control instruction or switch order.

41. a kind of robot, which is characterized in that including as described in any one of claim 11~20, claim 31~40 The robot controller based on gesture identification.