Research On Visual Servo Technology Of Apple Bagging Robot

It is the main purpose of the research of agricultural robots that robot engineering is applied to agriculture,or explored the possibility of using the existing industrial robots according to the characteristics of crops.In the field of robot control,visual control is an important research direction,and it is also one of the hot spots in the current research field.Robot visual servo control contains a wide range of research content,such as image processing,feature extraction,binocular stereo vision calibration,visual control algorithm,visual measurement,etc..In this thesis,in order to improve the real-time performance and universality of the system to meet the actual needs,early recognition and positioning of key technology combines robustness and real-time are studied.The application of image recognition and visual positioning in apple bagging system is taken as the background.The main research contents are as follows:1.Apple bagging robot vision system is introduced,and the specific flow chart is given.The young apple imageis segmented by the pretreatment.By using the improved connected domain labeling algorithm,area method to remove small area and circularity method,the segmented fruit is identified.Binocular stereo vision is used to the apple fruit images collected image stereo matching,epipolar rectification and 3D reconstruction.Finally,the self-developed apple fruit processing software for PC and OpenGL is used to 3D display combined image reconstruction of the apple fruit.2.The apple fruit bagging robot kinematics model is established by using of D-H method,and the forward kinematics and inverse kinematics of the apple bagging robot are analyzed.By using the Toolbox Robotics toolbox,the reachable workspace of the manipulator and the rationality of the parameters are displayed visually.Through the analysis of the joint trajectory of the manipulator,the follow-up to the actual set of good foundation is laid.3.Many kinds of visual servo control system are introduced,and the characteristics and stability of the system are analyzed.According to the actual working situation of the apple bagging robot,the servo control system based on the position and the image based hybrid visual servo control is selected.Finally,the actual work of outdoor scene is simulated under laboratory conditions.The apple fruit bagging robot system is proved through debugging,feasibility experiment scheme and related algorithm.