Papers by Author: Tian Hu Liu

Abstract: To improve the positioning accuracy of picking manipulator, research of stereo vision positioning for picking object in dynamic was studied. And system composition and positioning principle of stereo vision for vibratory object were introduced. Moreover, experimental platform, which simulated the vibration while picking, was designed for the stereo vision positioning experiment in static condition or vibratory condition. Therefore, influence of vibration condition on the depth information of vision positioning can be analyzed and the regression equation of depth error can be built. The results showed that when the object vibrating, the depth error increased. The vibratory frequency was the most important factor, and the depth error would increase with the frequency increased. The influence of vibratory direction and amplitude on depth error was also significant, but much less than frequency.

Abstract: In order to reduce the research and experimental cost of hand-picking machine, to make the design of manipulator more reasonable, and to provide more optimized program for the design, an agricultural picking manipulator simulation system based on intelligent design was designed. Firstly ,based on the research needs, to simplify the real picking manipulator under the premise of that the simulation accuracy reach the requirement, the model of picking manipulator had been simplified. Secondly, the finished model was put into EON Studio to build the virtual procedure, and movement properties were added to the manipulator to realize the function of motion simulation. Thirdly, the picking manipulator mathematics motion model of 4 freedoms was established, and the inverse kinematics of the picking manipulator was analyzed by MATLAB analysis tools, and the reverse solution program was written. Finally, Microsoft Visual C++ was used to complete the design of simulation platform, in order to realize the calling of various functions of the manipulator.

Abstract: In picking manipulator location system, it is the key problem that the positions of obi-object and picking manipulator are exactly determined in complex environment. Based on multi-sensor information fusion method, a data fusion system of multi-sensor integrating laser-sensor for absolute location with ultrasonic-sensor for inspection impediment was presented. Firstly, data collection and fusion were implemented employing a two- level distribution system. Secondly, the method of data collection and fusion in virtual environment was discussed, and the result data could drive picking manipulator 3D model to dynamically move in real-time using event and route mechanisms provided by virtual environment, which could simulate the process of picking manipulator being accurately located. Finally, a location simulation system was developed by VC++ and EON SDK.