基于机器视觉的草莓采摘机械手设计  

Strawberry Picking Manipulator Design Based on Machine Vision

作　　者：宁彤 张燕[1] 梁栋[1] 吴超 Ning Tong;Zhang Yan;Liang Dong;Wu Chao(School of Mechanical and Electrical Engineering,Hainan University,Haikou 570228,China)

机构地区：[1]海南大学机电工程学院,海南海口570228

出　　处：《海南大学学报（自然科学版）》2022年第3期287-293,共7页Natural Science Journal of Hainan University

基　　金：海南省自然科学基金(519QN192);海南省自然科学基金高层次人才项目(520RC536)。

摘　　要：设计了一种智能草莓采摘机械手.首先通过SOLIDWORKS三维建模方法建立整机模型;其次对传动丝杠、采摘道具等关键部件进行设计与分析,并用SOLIDWORKS simulation软件进行有限元分析,得到其真性频率符合要求;最后通过运用机器视觉技术,对草莓果实成熟时期进行图像采集与特征提取,运用均值滤波法进行图像降噪处理,最终使采摘机械手能够自动识别和定位成熟草莓果实并进行采摘作业.In the report,an intelligent strawberry picking manipulator was designed. Firstly,SOLIDWORKS 3D modeling method was used to construct the whole machine model;secondly,the key components such as driving screws and picking props were designed and analyzed,SOLIDWORKS simulation software was used for the finite element analysis to obtain the true frequency meeting the requirements;lastly,the machine vision technology were performed for image acquisition and feature extraction of strawberry fruits during the ripening period,the mean filtering method was used to perform image noise reduction processing. The results indicated that the picking robot can automatically identify and located the ripe strawberry fruits and carried out picking operations.

关 键 词：草莓 采摘 机械手 机器视觉 SOLIDWORKS 

分 类 号：TH122[机械工程—机械设计及理论]