Visual Positioning Technology Research of Picking Robot Based on Dynamic Target

Authors

Juntao Xiong, 1. College of Informatics, South China Agricultural University, Guangzhou 510642, China;;2. Key Lab of Key Technology on Agricultural Machine and Equipment Ministry of Education and Guangdong Province, College of Engineering, South China Agricultural University, Guangzhou 510642, China;
Xiangjun Zou, 2. Key Lab of Key Technology on Agricultural Machine and Equipment Ministry of Education and Guangdong Province, College of Engineering, South China Agricultural University, Guangzhou 510642, China;
Haixin Zou, 2. Key Lab of Key Technology on Agricultural Machine and Equipment Ministry of Education and Guangdong Province, College of Engineering, South China Agricultural University, Guangzhou 510642, China;
Hongxing Peng, 2. Key Lab of Key Technology on Agricultural Machine and Equipment Ministry of Education and Guangdong Province, College of Engineering, South China Agricultural University, Guangzhou 510642, China;
Ye Min, 2. Key Lab of Key Technology on Agricultural Machine and Equipment Ministry of Education and Guangdong Province, College of Engineering, South China Agricultural University, Guangzhou 510642, China;

Abstract

Abstract: A difficult problem of picking robot visual position in the natural environment is the disturbance because of interference factors. The angular size of disturbed fruit was calculated to determine the three states of fruit that static, micro disturbance and large disturbance; For static and micro disturbance litchi, the improved FCM fuzzy clustering method was used to segment litchi image to acquire litchi fruit and fruit stalk, then the Hough linear fitting was used to determine the effective picking area and picking point on the fruit stalk, so realizing the visual space positioning of litchi picking point, and the simulation of manipulator picking disturbance target was carried on using the virtual reality technology. The visual positioning test results show that the visual positioning depth error values of static and micro disturbance litchis picking points are up to 2.3 cm, and the smallest is 0.6 cm, which shows the rationality and effectiveness of this method.

Recommended Citation

Xiong, Juntao; Zou, Xiangjun; Zou, Haixin; Peng, Hongxing; and Min, Ye (2020) "Visual Positioning Technology Research of Picking Robot Based on Dynamic Target," Journal of System Simulation: Vol. 27: Iss. 4, Article 23.
Available at: https://dc-china-simulation.researchcommons.org/journal/vol27/iss4/23

First Page

836

Revised Date

2014-04-09

DOI Link

https://doi.org/

Last Page

842

CLC

TP391.41

Recommended Citation

Xiong Juntao, Zou Xiangjun, Zou Haixin, Peng Hongxing, Ye Min. Visual Positioning Technology Research of Picking Robot Based on Dynamic Target[J]. Journal of System Simulation, 2015, 27(4): 836-842.

Corresponding Author

Xiangjun Zou,