基于现场可编程门阵列的可重构手势交互教学机器人设计  

Design of reconfigurable gesture interactive teaching robot based on field programmable gate array

作　　者：邓广雯 梁娇娇 张驾祥 谭会生[1] DENG Guangwen;LIANG Jiaojiao;ZHANG Jiaxiang;TAN Huisheng(College of Traffic Engineering,Hu’nan University of Technology,Zhuzhou,Hu’nan 412007)

机构地区：[1]湖南工业大学轨道交通学院,湖南株洲412007

出　　处：《电气技术》2023年第10期8-16,共9页Electrical Engineering

基　　金：湖南省学位与研究生教学改革研究项目(2022JGYB183);湖南省教育厅科学研究项目(21B0534)。

摘　　要：针对传统教学机器人可重构性差、系统综合应用性不足、人机交互功能简单等缺点,本文设计开发一种基于现场可编程门阵列(FPGA)的可重构动静态手势交互教学机器人。该机器人以Xilinx的Spartan6为控制器,通过OV5640摄像头对手势图像信息进行识别传输,利用I2C总线与FPGA控制芯片进行通信,利用WiFi模块进行数据传输,从而对机器人进行相应的手势指令控制,实现人机手势交互、机械臂抓物、自动循迹、超声避障、运动除障、语音播报等多种功能。同时,该手势控制机器人对测试者的数字手势和动作手势识别正确率达95.1%,实时识别响应时间小于0.5s。本文设计的基于FPGA的可重构动静态手势交互教学机器人可应用于FPGA系统设计等研究类课程教学中,具有推广价值。In view of the disadvantages of traditional teaching robots such as poor recon�figurability,insufficient comprehensive application of the system and simple human-computer interaction function,this paper designs and develops a reconfigurable dynamic and static gesture interactive teaching robot based on field programmable gate array(FPGA).The robot uses Spartan6 of Xilinx as the controller,uses OV5640 camera to recognize and transmit the gesture image information,uses I2C bus to communicate with FPGA,and uses WiFi module to transmit data,so as to control the robot with corresponding gesture instructions.It realizes many functions,such as human-computer gesture interaction,mechanical arm grasping,automatic tracking,ultrasonic obstacle avoidance,motion obstacle removal,voice broadcasting and so on.At the same time,the recognition accuracy of the gesture control robot is 95.1%,and the real-time recognition response time is less than 0.5s.A FPGA-based reconfigurable teaching robot controlled by dynamic and static gestures designed in this paper can be used in the teaching of research courses such as FPGA system design,and has promotion value.

关 键 词：可重构教学机器人 动静态手势控制 现场可编程门阵列(FPGA) 实时识别 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程] G642[文化科学—高等教育学]