黄瓜收获机器人避碰轨迹规划

提出了一种基于机器视觉和关节空间的黄瓜收获机器人障碍避碰轨迹规划新方法,描述了算法的实现过程。该算法中,障碍分为球体、正方体和长方体3类;根据黄瓜果实图像信息,按照距离由近及远原则,规划成熟黄瓜的采摘顺序;根据障碍类型,进行障碍判断和归类,构造障碍保护圆和障碍保护点;采用过中间障碍点的三次多项式插值函数进行描述黄瓜收获机器人相应阶段关节空间的运动轨迹。

Obstacle Avoidance Trajectory Planning of Cucumber Harvesting Robot

A new trajectory planning method of cucumber harvesting robot for obstacle avoidance is proposed based machine vision and joint space,and realization of the algorithm is described.Obstacles are classified spheroid,cube and cuboid.According to cucumber fruit image information,in accordance with the distance from near to far in principle,ripe cucumber picking order is planned.According to the type barriers,obstacles judgement and classification are implemented,and obstacle protection circle and obstacle prote...