采摘机器人视觉定位及行为控制的硬件在环虚拟试验系统设计

发布时间：2018-01-20 06:00

本文关键词： 机器人算法设计硬件在环仿真双目立体视觉葡萄虚拟现实　出处：《农业工程学报》2017年04期 　论文类型：期刊论文

【摘要】：因采摘机器人野外试验易受收获季节、气候和场地等诸多因素的限制,为辅助试验采摘机器人视觉定位及其行为控制算法,设计了基于硬件在环仿真的葡萄采摘机器人虚拟试验。该文先利用双目立体视觉提取葡萄串采摘点及防碰包围体等空间信息;然后以实验室已有的6自由度采摘机器人样机为原型,建立三维虚拟仿真模型,运用D-H法建立机器人坐标变换,求解虚拟环境下机器人运动学正解和逆解;再以实物视觉提取的葡萄串空间信息为基础,运用VC++、Javascript等编程语言在虚拟现实平台EON上对采摘机器人视觉定位及其采摘行为进行仿真设计和编程实现,设计出一套以实物视觉与虚拟采摘机器人相结合的硬件在环仿真平台。最后,在该平台上对葡萄采摘机器人进行了34次虚拟试验,试验中视觉定位、路径规划、夹剪果梗3个环节的成功率依次为85.29%、82.35%、82.35%。结果表明,该方法可很好地运用于验证和试验采摘机器人视觉定位及其行为算法。
[Abstract]:The field experiment of picking robot is restricted by many factors, such as harvest season, climate, site and so on, so the visual location and behavior control algorithm of the robot are used for the auxiliary test. The virtual experiment of grape picking robot based on hardware in loop simulation is designed. Firstly, the spatial information of grape string picking point and anti-collision envelop are extracted by binocular stereo vision. Then the 3D virtual simulation model is established based on the prototype of the 6-DOF picking robot, and the coordinate transformation of the robot is established by D-H method. The forward and inverse kinematics solutions of the robot are solved in the virtual environment. Then based on the spatial information of grape string extracted by physical vision, VC is used. The visual positioning and picking behavior of picking robot are simulated and programmed by Javascript and other programming languages on the virtual reality platform EON. A hardware in loop simulation platform is designed which combines physical vision and virtual picking robot. Finally, 34 virtual experiments of grape picking robot are carried out on the platform, and visual positioning is carried out in the experiment. The success rate of the three links of path planning, clipping and shearing was 85.29 and 82.35 respectively. The results showed that the success rate of the three links was 82.35 and 82.35 respectively. This method can be used to verify and test the vision location and behavior algorithm of picking robot.
【作者单位】：华南农业大学南方农业机械与装备关键技术教育部重点实验室;天津职业技术师范大学机械工程学院;
【基金】：国家自然科学基金资助项目(31571568) 广东省科技计划项目(2015A020209111,2015A020209120,2014A020208091)
【分类号】：TP391.41;TP242;TP391.9
【正文快照】： 罗陆锋,邹湘军,程堂灿,杨自尚,张丛,莫宇达.采摘机器人视觉定位及行为控制的硬件在环虚拟试验系统设计[J].农业工程学报,2017,33(4):39-46.doi:10.11975/j.issn.1002-6819.2017.04.006 http://www.tcsae.orgLuo Lufeng,Zou Xiangjun,Cheng Tangcan,Yang Zishang,Zhang Cong,Mo

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