| 远程控制采摘机器人手势识别研究——基于势场蚁群算法 |
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| 引用本文： | 袁路路,张娓娓.远程控制采摘机器人手势识别研究——基于势场蚁群算法[J].农机化研究,2017(5):236-240. |
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| 作者姓名： | 袁路路 张娓娓 |
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| 作者单位： | 河南工业职业技术学院,河南 南阳,473000 |
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| 基金项目： | 河南省自然科学基金项目(2015ZCB115)；南阳市科技攻关项目(2012GG029) |
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| 摘 要： | 采摘机器人在作业时遇到通过自主导航无法越过的障碍物时,或者在危险的地带无法进行人工采摘作业时,需要借助远程方式进行实时控制,使其成功越过障碍物,并在高危环境中有效地展开采摘作业。为了优化采摘机器人远程控制系统,提出了一种基于手势识别的远程控制方案,并引入了势场蚁群算法,提高了机器人的控制的准确性和高效性。在远程控制方案中,将基于视觉的手势识别与远程控制机械手相结合,通过深度相机采集手势图像并提取手势特征,转换为机械手舵机的控制命令,并通过无线网络发送至采摘机器人控制单元,实现视觉手势对机器人的远程控制。对采摘机器人进行了测试,通过测试发现:基于蚁群算法的手势识别系统可以有效地追踪得到不同的动态手势,且可以准确地识别手势所代表的意义,成功实现了机器人远程控制的手势识别。该方法不仅可以远程实现机器人避障功能,还可以将其应用在山谷、沼泽等危险地带进行采摘作业,实现其非凡的使用价值。
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| 关 键 词： | 采摘机器人 人工势场 蚁群算法 手势识别 远程控制 |
Research on Hand Gesture Recognition of Remote Control Picking Robot Based on Potential Field and Ant Colony Algorithm |
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| Yuan Lulu,Zhang Weiwei.Research on Hand Gesture Recognition of Remote Control Picking Robot Based on Potential Field and Ant Colony Algorithm[J].Journal of Agricultural Mechanization Research,2017(5):236-240. |
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| Authors: | Yuan Lulu Zhang Weiwei |
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| Abstract: | When the robot is unable to cross the obstacle in the operation , or when the dangerous area can not be manu-ally picked up , it needs to use the remote method for real-time control , so that it can successfully cross the obstacles , and in the high risk environment to carry out the picking operation effectively .In order to optimize the robot remote con-trol system , a remote control scheme based on gesture recognition is proposed , and the potential field ant colony algorithm is introduced to improve the accuracy and efficiency of the robot .In the remote control scheme , the gesture recognition combined with remote control robot arm based on the depth camera gesture image and extract the gesture features into ma -nipulator servo control commands , and through the wireless network to the picking robot control unit , to realize the re-mote control of the robot visual gestures .Finally , the robot is tested .The recognition system based on ant colony algo-rithm can effectively track the different dynamic gestures , and can accurately identify the meaning of gestures .This meth-od can not only realize the function of obstacle avoidance , but also can be used in the area of the valley , the swamp and so on. |
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| Keywords: | picking robot artificial potential field ant colony algorithm hand gesture recognition remote control |
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