Study of picking manipulator location simulation based on machine vision

Computer Engineering and Applications ›› 2011, Vol. 47 ›› Issue (24): 139-142.

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Study of picking manipulator location simulation based on machine vision

XIONG Juntao1，2，ZOU Xiangjun1，ZOU Haixin1，CHEN Yinle1，LU Jun1

1.Key Lab of Key Technology on Agricultural Machine and Equipment Ministry of Education，South China Agricultural University，Guangzhou 510642，China
2.Department of Information Engineering，College of Informatics，South China Agricultural University，Guangzhou 510642，China

Received:1900-01-01 Revised:1900-01-01 Online:2011-08-21 Published:2011-08-21

结合机器视觉的采摘机械手的定位仿真研究

熊俊涛1，2，邹湘军1，邹海鑫1，陈荫乐1，卢俊1

1.华南农业大学南方农业机械与装备关键技术省部共建教育部重点实验室，广州 510642
2.华南农业大学信息学院信息工程系，广州 510642

Abstract

Abstract: The operation mechanism of fruit picking manipulator spatial location is studied，it analyses the location error of binocular stereo vision system and establishes the visual error compensation mechanism.Virtual robot development software and the CCD visual hardware are used to constitute simulation system，the spatial location data obtained by stereo vision is mapped to the virtual environment to achieve the spatial precision positioning.The simulation system uses multi-field knowledge fusion to realize picking machine precise positioning simulation associated with vision，it can effectively guide the optimization design of picking robot precise positioning in practical operating environment.

Key words: binocular stereo vision, error compensation, picking manipulator, simulation system

摘要： 对水果采摘机械手空间定位机理进行了研究，分析了双目立体视觉系统的定位误差并建立视觉误差补偿机制，利用虚拟机械手开发软件和CCD视觉硬件构建了仿真系统，通过双目立体视觉获取空间位置数据映射到虚拟环境下引导机械手进行模拟采摘。该系统利用多领域知识融合实现了采摘机构与视觉关联精确定位的仿真，能有效地指导实际作业环境中采摘机械手精确定位的优化设计。

关键词: 双目立体视觉, 误差补偿, 采摘机械手, 仿真系统

XIONG Juntao1，2，ZOU Xiangjun1，ZOU Haixin1，CHEN Yinle1，LU Jun1. Study of picking manipulator location simulation based on machine vision[J]. Computer Engineering and Applications, 2011, 47(24): 139-142.

熊俊涛1，2，邹湘军1，邹海鑫1，陈荫乐1，卢俊1. 结合机器视觉的采摘机械手的定位仿真研究[J]. 计算机工程与应用, 2011, 47(24): 139-142.

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Study of picking manipulator location simulation based on machine vision

结合机器视觉的采摘机械手的定位仿真研究

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