虚拟现实场景下的精准化采摘机器人作业研究  

Research on Precision Picking Robot Operation in Virtual Reality Scene

作　　者：张沛朋[1] 李俊雅[1] Zhang Peipeng;Li Junya(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》2024年第6期210-213,共4页Journal of Agricultural Mechanization Research

基　　金：河南省基础与前沿技术研究计划项目(142300410391)。

摘　　要：利用虚拟现实场景仿真技术,对葡萄采摘机器人的精准作业控制过程进行分析,通过构建虚拟现实环境下葡萄采摘机器人作业场景模型,以机器人采摘运动柔顺、无碰撞和不损伤采摘对象为目标,对采摘作业过程的夹紧、托举以及剪切动作进行虚拟仿真。虚拟现实场景下20次采摘动作仿真结果中,有3次采摘发生碰撞、17次采摘成功。这表明,在设计阶段利用虚拟现实场景进行精准化作业仿真和控制算法测试,能够有效缩短采摘机器人研制过程中的调试和优化时间。This paper studies the precise operation control process of grape picking robot by using virtual reality scene simulation technology.By constructing the operation scene model of grape picking robot in virtual reality environment,the clamping,collision and damage of picking process are carried out for the purpose of robot picking motion flexibility,no collision and no damage to picking objects Virtual simulation of lifting and cutting action.In the simulation results of 20 picking actions in the virtual reality scene,3 picking collisions occurred and 17 picking succeeded,which shows that using the virtual reality scene for accurate operation simulation and control algorithm test in the design stage can effectively shorten the debugging and optimization time in the development process of the picking robot.

关 键 词：采摘机器人 精准化作业 虚拟现实场景 控制算法 

分 类 号：S225[农业科学—农业机械化工程]