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Aiming at a series of problems in the current visual human-computer interaction application, such as complex recognition process and low interaction efficiency, This paper proposed a pose recognition algorithm based on human body structure. Using the algorithm and the design idea of soft and hard coordination, this paper realized a set of robot control system using visual perception to interact on the FPGA platform. Image acquisition module got pictures of the dual camera, the image preprocessing module completed the noise reduction and the removal of the redundant frame, and the joint recognition module realized the detection of the color mark on the human skin and joint; Soft nuclear the obtained joint position information, using spatial vector models to identify limb movements. The soft nuclear encoded the recognition result and transmitted to the remote robot via Bluetooth. The actual test shows that the algorithm can quickly and accurately identify most of the basic limb movements, and the robot can follow the simple movement of the human body in real time.