Research On Trajectory Planning Of Mobile Bamboo Cutting Robot Based On Binocular Vision

China is rich in bamboo forest resources,with an area of more than 5 million hectares,nearly one fourth of the world’s bamboo forest.Compared with the traditional wood,bamboo has the advantages of strong reproduction ability,rapid growth,good mechanical properties and so on,and has been widely used in the national manufacturing industry.However,bamboo forests are mostly distributed in the hilly areas with complex terrain environment,so it is difficult for the general cutting machinery to operate normally.At present,in the bamboo forest cutting,manual operation is generally adopted,not only the production efficiency is low,there are safety risks,but also the cost of artificial bamboo cutting is constantly rising,so it is of great significance to design a mobile bamboo cutting robot that can carry out bamboo cutting operation between bamboo forests.First,bamboo robot system is studied in this thesis,the cutting bamboo design of the robot,the move illustrates the bamboo bamboo cutting robot system function requirement and cutting process,cutting bamboo of six degrees of freedom robot manipulator,the surrounding on the kinematics analysis and joint space trajectory planning,the use of Matlab software on simulation work.Secondly,this thesis builds a binocular stereo vision system,discusses the imaging model of binocular camera in detail,introduces several common camera calibration methods,uses Matlab to effectively determine the camera parameters,and explains the principle of binocular vision space positioning.Finally,this thesis proposes a virus genetic trajectory planning algorithm and realizes it in Matlab,builds the bamboo cutting robot control system,determines the hardware platform of the mobile bamboo cutting robot and designs the software of the bamboo cutting robot control system,introduces the functions of each module,and completes the bamboo cutting simulation experiment.Through the above analysis and research show that the application of genetic algorithm robot joint trajectory to cutting bamboo robot is completed,the optimized joint trajectory effectively reduces the amount of exercise and to ensure the running smoothness,avoid the singular configuration of the robot,the bamboo design of mobile robot control system can complete visual space positioning,automatic cut bamboo,and other functions,meet the demand of mobile cutting bamboo robot automatic cutting bamboo.