Study on Location Simulation for Picking Manipulator in Virtual Environment Based on Information Fusion of Multi-Sensor

摘要

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.