Virtual robot and real robot integration based picking system and method

Abstract

The invention discloses a virtual robot and real robot integration based picking system. The virtual robot and real robot integration based picking system comprises a vision positioning system, a real robot and a virtual robot simulation system; a picking target is positioned through the vision positioning system and the real-time picking of the real robot is guided after the three-dimensional space coordinate information of the picking target is obtained; meanwhile the obtained three-dimensional space coordinate information is transmitted to the virtual robot simulation system through a data transmission line and the real-time simulation is performed on the picking process through a virtual robot. According to the virtual robot and real robot integration based picking system and method, a virtual simulation technology is combined with a machine vision technology, the robot under the virtual environment and the real robot are driven based on calculation data of a binocular vision system to perform the visual positioning and the picking behavior simultaneously, and accordingly the contrast of the accuracy of the vision positioning and the effectiveness validation of the picking behavior are implemented.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a picking system and method based on the integration of virtual robots and real robots. Background technique [0002] The development of intelligent robots is a research hotspot in recent years. Through the application of intelligent robots, in industrial and agricultural production, the working efficiency can be effectively improved, and the labor intensity and cost of production can be reduced. In terms of agricultural robots, fruit and vegetable harvesting robots are one of the main means of developing modern agricultural production, and the visual positioning system of picking robots is one of the key technologies for the successful completion of picking operations. Therefore, the visual positioning system of the picking robot must be able to accurately and effectively realize the identification and positioning of picking targets, including the use of the visual system for r...

AI Technical Summary

Problems solved by technology

[0003] However, compared with the current development of agricultural production at home and abroad, the research results of agricultural robots are still relatively small. Due to the complexity of the agricultural environment, the research results of picking robots can only be picked in a single laboratory environment. , and there are problems such as low picking success rate and low visual positioning accuracy

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