基于模式识别技术的采摘机械手控制系统设计与研究  

Design and Research of Control System of Picking Manipulator Based on Pattern Recognition Technology

作　　者：许娜[1] 周炜明[1] Xu Na;Zhou Weiming(Henan Polytechnic Institute, Nanyang 473000, China)

机构地区：[1]河南工业职业技术学院,河南南阳473000

出　　处：《农机化研究》2019年第5期192-196,共5页Journal of Agricultural Mechanization Research

基　　金：河南省科技厅重点科技攻关项目(162102310245)

摘　　要：利用模式识别中的图像处理技术,采用TI公司Sitara系列的AM5728处理器,通过视觉系统和舵机驱动方法,实现了一套采摘机械手控制系统。试验结果表明:该采摘机械手控制系统,能够实现对目标果实的准确采摘,正确采摘率为89%,采摘一个苹果耗时9s,系统具有速度快、准确性高和可行性强等特点,能够满足一般的果实采摘,具有很好的实用性。It uses the image processing technology in pattern recognition and adopt the Sitara processor AM5728 processor of TI company to realize a set of picking manipulator control system by visual system and actuator driving method. The test results show that the manipulator control system can achieve the goal of accurately picking fruit picking, the correct rate is 89%, picking an apple takes 9s, system has the characteristics of fast speed, high accuracy and strong feasibility, to meet the general fruit picking, with good practicability.

关 键 词：模式识别 采摘机械手 运动控制 图像处理 AM5728 

分 类 号：TP277.2[自动化与计算机技术—检测技术与自动化装置] S225.3[自动化与计算机技术—控制科学与工程]