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Visual guide method and device of mechanical arm

A vision-guided and robotic arm technology, applied in the agricultural field, can solve problems such as large delays, low operating efficiency, and cumbersome processes, and achieve the effect of avoiding collisions and improving operating efficiency

Inactive Publication Date: 2019-09-24
BEIJING RES CENT OF INTELLIGENT EQUIP FOR AGRI
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  • Application Information

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Problems solved by technology

The existing robotic arm vision guidance system has cumbersome processes, large delays and low operating efficiency

Method used

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  • Visual guide method and device of mechanical arm
  • Visual guide method and device of mechanical arm
  • Visual guide method and device of mechanical arm

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Embodiment Construction

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0053] figure 1 It is a flow chart of the vision guidance method for the mechanical arm of the agricultural robot provided by the embodiment of the present invention. Such as figure 1 As shown, the vision guidance method of the mechanical arm of the agricultural robot provided by the embodiment of the present invention includes:

[0054] S...

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Abstract

The embodiment of the invention provides a visual guide method and device of a mechanical arm of an agricultural robot. The method comprises the steps of obtaining RGB information and 3D point-cloud information of a job object and an obstacle, determining the category of the job object and the obstacle according to the RGB information of the job object and the obstacle, determining the three-dimensional coordinate of the job object and the obstacle according to the 3D point-cloud information of the job object and the obstacle, determining a motion path of the mechanical arm according to the category of the job object and the obstacle and the three-dimensional coordinate of the job object and the obstacle, and guiding the mechanical arm to operate according to the motion path of the mechanical arm. According to the method and the device, the collision of the mechanical arm with the obstacle is avoided, and the operating efficiency of the agricultural robot is improved.

Description

technical field [0001] The invention relates to the field of agricultural technology, in particular to a visual guidance method and device for a mechanical arm of an agricultural robot. Background technique [0002] Agricultural robots can complete functions such as fertilization, pollination, spraying and picking of crops in complex environments. The use of agricultural robots can improve agricultural operating conditions, increase labor productivity and operating quality, and reduce human labor intensity. [0003] However, the "hand-eye coordination" method commonly used by agricultural robots in the operation process has obvious shortcomings: [0004] Most of the existing vision guidance systems and methods for manipulators are aimed at industrial environments, but the agricultural operation environment is complex, and the existing vision guidance systems and methods cannot be directly applied to the agricultural production environment. [0005] The existing vision guid...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1664B25J9/1697
Inventor 林森刘玉坤张云鹤郭文忠聂铭君王少磊贾冬冬李银坤徐凡贾海遥
Owner BEIJING RES CENT OF INTELLIGENT EQUIP FOR AGRI