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Image moments-based visual servoing control of bagged agricultural materials handling robot

International Journal of agricultural and Biological Engineering 2023年第1期16卷 212-219页

作者： Han Li Zhijiang Zuo Ruijuan Chi Yuefeng Du Enrong Mao State Key Laboratory of Precision Blasting Jianghan UniversityWuhan 430056China College of Engineering China Agricultural UniversityBeijing 100083China

Manual handling is less efficient and sometimes even hazardous to humans in many areas,for example,*** robots in those areas not only avoids human contact with such dangerous agricultural materials but also improves working *** motion of a robot is controlled using a technique called visual servoing that uses feedback information extracted from a vision *** this study,a visual servoing method was proposed based on learning features and image moments for 3D targets to solve the problem of image moment-based visual servoing.A Gaussian process regression model was used to map the relationship between the image moment invariants and the rotational angles around the X-and Y-axes of the camera frame(denoted asγandβ).To obtain maximal decoupled structure and minimal nonlinearities of the image Jacobian matrix,it was assumed two image moment features,which are linearly proportional toγandβ.In addition to the other four standardized image moment features,a 6-DOF image moment-based visual servoing controller for the agricultural material handling robot was *** this method,the problem of visual servoing task failure due to the singularity of the Jacobian matrix was solved,and it also had a better convergence effect for the part of the target image beyond the field of view and large displacement visual servoing *** proposed algorithm was validated by carrying out experiments tracking bagged flour in a six-degree-of-freedom robotic *** final displacement positioning accuracy reached the millimeter level and the direction angle positioning accuracy reached the level of 0.1°.The method still has a certain convergence effect when the target image is beyond the field of *** experimental results have been presented to show the adequate behavior of the presented approach in robot handling *** provides reference for the application of visual servoing technology in the field of agricultural robots and has important t

关键词： image moments visual servoing Jacobian matrix agricultural material handling robot

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