荔枝采摘机器人双目视觉的动态定位误差分析

发布时间：2018-04-08 15:10

本文选题：收获　切入点：机器人　出处：《农业工程学报》2016年05期

【摘要】：扰动引起的随机误差成为采摘机器人视觉定位的难题。为了探索荔枝采摘机器人视觉定位误差,首先用双目视觉系统和模拟扰动的震动平台对荔枝结果母枝采摘点的三维坐标进行定位试验,检测其实际位置,获得误差数据;然后,提出了一种动态定位误差分析方法,根据误差变化规律将动态定位误差划分为系统误差和随机误差;最后,用统计方法对2类误差分别进行定量分析和评价。结果表明,定位距离为600~1 000 mm时,系统误差与动态定位误差的变化趋势基本一致,视觉深度方向、水平方向最大动态定位误差分别为58.8和17.3 mm。系统误差置信区间较窄,视觉深度方向系统误差与定位距离呈较强的线性相关性,水平方向则表现为非线性。扰动下的随机定位误差服从正态分布,视觉深度方向、水平方向间的随机误差相关性较弱。视觉深度方向受扰动的影响较大,随机误差远大于水平方向,且不确定度较高。研究结果为荔枝采摘机器人视觉定位系统校准和动态定位方案设计提供依据,为机构容错纠错提供理论依据和实践指导。
[Abstract]:Random error caused by disturbance has become a difficult problem for picking robot.In order to explore the visual positioning error of litchi picking robot, first of all, using binocular vision system and vibration platform simulating disturbance to locate the 3D coordinate of the picking point of the mother branch of litchi result, to detect its actual position and obtain the error data.In this paper, a dynamic positioning error analysis method is proposed, which is divided into systematic error and random error according to the law of error variation. Finally, the two kinds of errors are quantitatively analyzed and evaluated by statistical method.The confidence interval of the system error is narrow, the system error of the visual depth direction is linearly correlated with the location distance, and the horizontal direction is nonlinear.The random positioning error under disturbance is weakly correlated with normal distribution, visual depth direction and horizontal direction.The visual depth direction is greatly affected by the disturbance, the random error is far greater than the horizontal direction, and the uncertainty is high.The results provide the basis for the calibration of the vision positioning system and the design of the dynamic positioning scheme for the Litchi picking robot, and provide theoretical basis and practical guidance for the fault tolerance and error correction of the mechanism.
【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;
【基金】：国家自然科学基金资助项目(31571568;31171457)
【分类号】：TP242;TP391.41

【共引文献】