基于VR场景设计的采摘机器人协同作业分析  

Collaborative Operation Analysis of the Picking Robot Based on VR Scene Design

作　　者：成艳真[1] Cheng Yanzhen(Jiyuan Vocational and Technical College,Jiyuan 459000,China)

机构地区：[1]济源职业技术学院,河南济源459000

出　　处：《农机化研究》2020年第12期194-199,共6页Journal of Agricultural Mechanization Research

基　　金：河南省社会科学界联合会和河南省经济学联合会项目(SKL-2016-1785);河南省教育厅课题(豫教[2017]06054)。

摘　　要：以进一步提高采摘机器人协同作业的可视性与效率为目标,将VR设计理念与采摘机器结合,针对VR场景下采摘机器人协同作业展开研究。通过考虑环境信息、植物成像、动态交互功能等基础条件,以采摘机器人各部件作业运动机理为依据,搭建采摘机器人VR场景,将采摘系统划分为多个子系统进行采摘作业的动作实现与路径调整,在数据、模型、知识等多部件协同控制支撑下进行VR场景采摘作业试验。结果表明:经系统协同感知与核心算法控制,采摘机器人各部件在自由度协调、对象及位置闭环调控条件下,得到理论计算定位与实际仿真误差控制在0~8mm范围内,机器人协同采摘的作业耗时最短为1.89s,平均耗时为2.06s,采摘成功率可达到96.8%,设计可行。VR场景设计下的采摘机器人整体协同作业分析保证了采摘机器人作业的柔韧度与协调性,对于采摘机器人部件结构改善及类似农机化设备的可视化开发具有很好的参考价值。In order to further improve the visibility and efficiency of the cooperative operation of picking robot,the VR design concept and the picking machine were combined to study the cooperative operation of picking robot in VR scenario.Considering the basic conditions such as environmental information,plant imaging,and dynamic interaction function,then based on the movement mechanism of each part of the picking robot,the VR scene of the picking robot was built.The picking system was divided into several subsystems to realize the picking operation and adjust the path.The VR scene picking operation experiment was carried out under the support of data,model and knowledge.The experiment showed that the error between theoretical calculation and actual simulation was controlled within 0-8 mm through system cooperative perception and core algorithm control,under the condition of freedom coordination,object and position closed-loop control.The robot cooperative picking could take the shortest time of 1.89 s and the average time was 2.06 s.The success rate of picking also could reach 96.8%,and the design was feasible.The overall cooperative operation analysis of picking robot under VR scenario design ensured the flexibility and coordination of picking robot operation,and would be a good reference value for improving the structure of picking robot parts and visualization development of the similar agricultural mechanization equipment.

关 键 词：采摘机器人 协同作业 VR设计 闭环调控 

分 类 号：S225[农业科学—农业机械化工程] S126[农业科学—农业工程]