Research on Picking Robot Vision Localization Based on Semi-physical Simulation

Authors

Keyin Chen, 1. School of Information and Communication Engineering, Hezhou University, Hezhou 542899, China;;2. Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture, Nanjing 210014, China;;
Xiangjun Zou, 3. Key Lab of Key Technology of South Agricultural Machine and Equipment Ministry of Education, South China Agricultural University, Guangzhou 510642, China;;
Hongxing Peng, 3. Key Lab of Key Technology of South Agricultural Machine and Equipment Ministry of Education, South China Agricultural University, Guangzhou 510642, China;;
Haiying Liang, 4. School of Mathematics and Computer Science, Hezhou University, Hezhou 542899, China;
Yuanchuang Hu, 4. School of Mathematics and Computer Science, Hezhou University, Hezhou 542899, China;

Abstract

Abstract: Aiming at the problems of accuracy and stability of the vision localization based on physical picking robot, which were easy to make mistakes, long cycle, and not easy to be carried out indoors, a picking robot vision localization method based on the semi-physical simulation technology was proposed combining with the robot vision localization mechanism and robot kinematics. This method adopted the virtual picking robot to instead of the physical robot, and studied the vision localization of the fruit target in the virtual simulated environment, which was as the vision localization based on semi-physical simulation. The test results show that: the average absolute error and relative error of the target fruit are only about 2.89 mm and 0.43% in the vision localization simulated environment, which is in line with the accuracy requirements of the actual vision localization, so the effectiveness and feasibility of this simulation method are validated.

Recommended Citation

Chen, Keyin; Zou, Xiangjun; Peng, Hongxing; Liang, Haiying; and Hu, Yuanchuang (2020) "Research on Picking Robot Vision Localization Based on Semi-physical Simulation," Journal of System Simulation: Vol. 29: Iss. 8, Article 13.
DOI: 10.16182/j.issn1004731x.joss.201708013
Available at: https://dc-china-simulation.researchcommons.org/journal/vol29/iss8/13

First Page

1736

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201708013

Last Page

1747

CLC

TP391.9

Recommended Citation

Chen Keyin, Zou Xiangjun, Peng Hongxing, Liang Haiying, Hu Yuanchuang. Research on Picking Robot Vision Localization Based on Semi-physical Simulation[J]. Journal of System Simulation, 2017, 29(8): 1736-1747.

Corresponding Author

Xiangjun Zou,

DOI

10.16182/j.issn1004731x.joss.201708013