面向复杂环境的人机协作装配意图识别方法

何家威; 张朝阳; 叶子健; 史天佑; 郑坤明

doi:10.7652/xjtuxb202512004

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面向复杂环境的人机协作装配意图识别方法

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- 面向复杂环境的人机协作装配意图识别方法
- Human-Robot Collaborative Assembly Intention Recognition Method for Complex Environments
- 西安交通大学学报 2025年59卷第12期页码：44-57
- 作者机构：
- 作者简介：
  
  作者简介：何家威（2001—），男，硕士生；
  张朝阳（通信作者），男，副教授，硕士生导师。
- 基金信息：
  
  国家自然科学基金资助项目(51805213;52205015)
- DOI：10.7652/xjtuxb202512004
  中图分类号： TH166
- 收稿：2025-04-28，
  
  纸质出版：2025-12-10
- 稿件说明：
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何家威, 张朝阳, 叶子健, 等. 面向复杂环境的人机协作装配意图识别方法[J]. 西安交通大学学报, 2025,59(12):44-57.

HE Jiawei, ZHANG Chaoyang, YE Zijian, et al. Human-Robot Collaborative Assembly Intention Recognition Method for Complex Environments[J]. Journal of Xi'an Jiaotong University, 2025, 59(12): 44-57.
何家威, 张朝阳, 叶子健, 等. 面向复杂环境的人机协作装配意图识别方法[J]. 西安交通大学学报, 2025,59(12):44-57. DOI： 10.7652/xjtuxb202512004.

HE Jiawei, ZHANG Chaoyang, YE Zijian, et al. Human-Robot Collaborative Assembly Intention Recognition Method for Complex Environments[J]. Journal of Xi'an Jiaotong University, 2025, 59(12): 44-57. DOI： 10.7652/xjtuxb202512004.

摘要

针对复杂环境中人机协作装配系统存在的识别装配动作准确率较低、动作相似度高时无法准确感知装配者意图，以及由此导致的机器人配合操作者的装配效率较低的问题，从装配动作信息和装配零件信息之间的联系出发，建立了面向复杂环境的人机协作装配意图识别融合模型。基于骨架特征，采用双流自适应图卷积神经网络（2 S-AGCN）模型针对装配进行动作识别；提出改进的YOLOV8模型，以提高装配零件在无序和遮挡环境下的识别准确率；结合当前装配任务，设计了包含装配动作和装配零件信息的装配推理规则，规划装配顺序。在装配动作数据集以及装配泵体零件数据集上对所提方法进行了验证。实验结果表明：交并比为0.50～0.95时，YOLOV8模型对零件识别的平均准确率达到88.361%；所提出的融合模型对于操作者装配意图的识别准确率达到96.66%，验证了人机协作系统识别操作者装配意图的可行性和有效性。将装配动作信息与装配零件信息相结合，有助于在复杂的人机协作环境中准确地识别出操作者的装配意图。

Abstract

To address the issues of low accuracy in recognizing assembly actions and the inability to accurately perceive human operators'intention under high action similarity in human-robot collaborative assembly systems within complex environments

as well as the resulting inefficiency in robot-operator collaboration

this study establishes an intention recognition fusion model for human-robot collaborative assembly in complex environments by integrating assembly action information and assembly part information.Based on skeletal features

a two-stream adaptive graph convolutional neural network（2 S-AGCN）model is employed for action recognition in assembly tasks.An improved YOLOV8 model is proposed to enhance the recognition accuracy of assembly parts in disordered and occluded environments.Considering with the current assembly task

assembly reasoning rules incorporating both assembl

y actions and part information are designed to plan the assembly sequence.The proposed method is validated on an assembly action dataset and an assembly pump part dataset.The experimental results show that when the intersection over union（

）threshold ranges from 0.50 to 0.95

the improved YOLOV8 model achieves a mean average precision of 88.361% for part recognition.The proposed fusion model achieves an intention recognition accuracy of 96.66%

demonstrating the feasibility and effectiveness of the human-robot collaborative system in recognizing operator assembly intention.Integrating assembly action information with assembly part information contributes to accurately identifying operator assembly intention in complex human-robot collaborative environments.

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