农机化研究2017，Vol.39Issue(5)：236-240,5.
远程控制采摘机器人手势识别研究-基于势场蚁群算法
Research on Hand Gesture Recognition of Remote Control Picking Robot Based on Potential Field and Ant Colony Algorithm
摘要
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.关键词
采摘机器人/人工势场/蚁群算法/手势识别/远程控制Key words
picking robot/artificial potential field/ant colony algorithm/hand gesture recognition/remote control分类
农业科技引用本文复制引用
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,2017,39(5):236-240,5.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 （）
