一种混联喷雾机械臂视觉定位系统设计  

A Vision Positioning System Design of the Series-parallel Spraying Mechanical Arms

作　　者：刘涛[1] 宗哲英[1] 张宾[2] 

机构地区：[1]内蒙古农业大学机电工程学院,呼和浩特010018 [2]中国农业大学工学院,北京100083

出　　处：《农机化研究》2014年第4期70-74,共5页Journal of Agricultural Mechanization Research

基　　金：高校博士点专项科研基金项目(20120008110046)

摘　　要：为实现自动化精准施药,避免对温室中单株作物连续喷药所造成的大量药液浪费,设计了一种基于机器视觉定位的自动化喷雾系统。该系统可自动对目标作物进行大小及位置的检测,由DSP控制喷雾机械臂实现针对目标作物的精准喷雾。机械臂采用了三自由度混联结构,具有结构简单、成本低、刚性好、便于控制解算等优点。实验证明,该系统完全可满足针对单株作物冠层的精准喷雾定位要求。A vision positioning system was designed to realize robotized spray operations using the series-parallel spraying arms in greenhouse. The system can save plenty of pesticide comparing with continuous spaying and detect size and posi- tion coordinates of the object crop. DSP is used for controlling the motors of mechanical arm. The mechanical arm has 3DOF series-parallel structure that has many advantages such as simple structure and controlling methods, lower cost, greater strength and rigidity. The experiments show that the system can meet requirements of precise spraying for the sin- gle crop canopy.

关 键 词：喷雾 机械臂 视觉定位系统 控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] S491[自动化与计算机技术—控制科学与工程]