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Virtual robot and real robot integration based picking system and method

A virtual robot and virtual system technology, applied in the direction of picking machines, agricultural machinery and implements, harvesters, etc., can solve the problems of low picking success rate and low visual positioning accuracy, and achieve the effect of reducing development costs and speeding up the development process

Active Publication Date: 2014-10-01
SOUTH CHINA AGRI UNIV
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Problems solved by technology

[0003] However, compared with the current development of agricultural production at home and abroad, the research results of agricultural robots are still relatively small. Due to the complexity of the agricultural environment, the research results of picking robots can only be picked in a single laboratory environment. , and there are problems such as low picking success rate and low visual positioning accuracy

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  • Virtual robot and real robot integration based picking system and method

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Embodiment Construction

[0027] The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0028] Such as figure 1 , the picking system based on the integration of virtual robot and real robot includes two parts: real robot and virtual robot picking simulation system. These two parts perform real-time data communication and feedback, and the two assist and correct each other. The real robot positioning vision system includes a consignment car 8, a binocular camera 2, a robot and its manipulator, and a visual positioning software system located in a computer 10. The manipulator of the robot includes a base 6 , a joint one 11 , a joint two 12 , a joint three 13 , a joint 4 , and an end effector 5 . Wherein, the robot base 6 is fixedly connected with the consignment trolley, and the robot is a 6-DOF robot. The binocular camera positioning system is developed by...

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Abstract

The invention discloses a virtual robot and real robot integration based picking system. The virtual robot and real robot integration based picking system comprises a vision positioning system, a real robot and a virtual robot simulation system; a picking target is positioned through the vision positioning system and the real-time picking of the real robot is guided after the three-dimensional space coordinate information of the picking target is obtained; meanwhile the obtained three-dimensional space coordinate information is transmitted to the virtual robot simulation system through a data transmission line and the real-time simulation is performed on the picking process through a virtual robot. According to the virtual robot and real robot integration based picking system and method, a virtual simulation technology is combined with a machine vision technology, the robot under the virtual environment and the real robot are driven based on calculation data of a binocular vision system to perform the visual positioning and the picking behavior simultaneously, and accordingly the contrast of the accuracy of the vision positioning and the effectiveness validation of the picking behavior are implemented.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a picking system and method based on the integration of virtual robots and real robots. Background technique [0002] The development of intelligent robots is a research hotspot in recent years. Through the application of intelligent robots, in industrial and agricultural production, the working efficiency can be effectively improved, and the labor intensity and cost of production can be reduced. In terms of agricultural robots, fruit and vegetable harvesting robots are one of the main means of developing modern agricultural production, and the visual positioning system of picking robots is one of the key technologies for the successful completion of picking operations. Therefore, the visual positioning system of the picking robot must be able to accurately and effectively realize the identification and positioning of picking targets, including the use of the visual system for r...

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Application Information

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IPC IPC(8): A01D46/30
Inventor 熊俊涛邹湘军刘念李博林桂潮孙宝霞
Owner SOUTH CHINA AGRI UNIV
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