直角坐标型美国白蛾幼虫网幕对靶喷药机器人设计  

Study on Rectangular Net Curtain of American White Moth Larvae Target Spraying Robot

作　　者：王高超[1] 张翠华[1] 赵颖[1] 张来刚[1] 

机构地区：[1]聊城大学机械与汽车工程学院,山东聊城252059

出　　处：《聊城大学学报（自然科学版）》2016年第2期86-89,共4页Journal of Liaocheng University:Natural Science Edition

基　　金：山东省自然科学基金项目(ZR2012CQ026;ZR2015FL007);山东省高等学校科技发展计划项目(J11LD16)

摘　　要：根据美国白蛾幼虫网幕分布特征,设计了一种单目手眼协调式直角坐标型智能对靶喷药机器人系统,以步进电机配合同步带,控制直线导轨实现空间二维运动.主程序控制手眼执行机构以特定轨迹扫描目标树木,图像处理程序实时提取图像中的网幕目标,确定是否需要喷药及最优喷药位置.在室内环境下,对系统进行仿真试验.试验表明,系统对模拟网幕的过喷率最高为288.5%,漏喷率为0.According to the distribution features of the American white moth larvae net curtain, arobot system i designed which is a single hand eye coordinated Cartesian type intelligent target spraying.With the stepping motor working in with the synchronous belt, the spatial two dimensional motion is realizedby the control of the linear guide rail. The hand-eye actuator is controlled in a specific trajectoryscanthe tree by the main program. The net curtain target is extracted by the image processing programin real time so that the need for spraying and optimal spraying position is determined. In the indoor environment,the simulation experiment is carried out. The experimental results shows that the maximumrate of the system is 288. 5 % and the leakage rate is 0.

关 键 词：美国白蛾 幼虫网幕 对靶喷药机器人 

分 类 号：TH122[机械工程—机械设计及理论]