农业机械学报2017，Vol.48Issue(3)：14-23,10.DOI:10.6041/j.issn.1000-1298.2017.03.002
体感操控多臂棚室机器人作业决策规划算法研究
Algorithm of Works' Decision for Three Arms Robot in Greenhouse Based on Control with Motion Sensing Technology
摘要
Abstract
There are many problems in the current greenhouse and plant factory.It's an effective solution to work by robots.However,because of the limit of the intelligent algorithm at present,the robot's works are imprecise.And they can just complete single job in once cruise which cause the inefficient using.Aiming at the problem,an algorithm which based on the motion sensing of Kinect and used in three arms robot was proposed,by using the Kinect to collect the depth image,including the operating personnel and combining the Random forests of statistical learning theory with the mean shift algorithm based on the Gauss kernel function which acquired 20 skeletal joints that can standard the human motion.On this basis,a mapping relation was put forward in innovation of three arms based on the mode switching to achieve that the two arms of the man can freely control three arms of the robot and perform several works in greenhouse.In addition,a way of gesture features segmentation was proposed which based on skeletal tracking technology in Kinect and YCbCr color space,realizing the aim that using the action of the palm to control the robot's end effectors.Finally,a prototype of three arms robot was built to test the decision algorithm of motion sensing and its accuracy.A discrete value was taken for the angle in shoulder joint to recognize the error data in experiment,so eliminated errors in the shoulder joints.The results showed that the maximum mapping error of joint angle was 1.90° between human and robot.The maximum error of the host computer sending angle and the real angle by robot was 0.80°,which was within the margin of error.Meanwhile,the average time of completing an order of picking and spraying was 13.34 s,the picking time was 6.36 s and the spraying time was 6.98 s.And the performance of the robot can be boosted by training the manipulator.It was indicated that this algorithm had a great practicability and canwork accurately.关键词
多臂温室机器人/决策规划/体感技术/Kinect传感器Key words
multi-arms robot in greenhouse/decision programming/motion sensing technology/Kinect sensor分类
农业科技引用本文复制引用
权龙哲,李成林,冯正阳,刘佳伟..体感操控多臂棚室机器人作业决策规划算法研究[J].农业机械学报,2017,48(3):14-23,10.基金项目
黑龙江省普通高等学校青年创新人才培养计划项目(LR-356214)、国家自然科学基金项目(51405078)、黑龙江省博士后基金项目(LBH-Z13022)和东北农业大学“青年才俊”项目(518020) （LR-356214）
