基于视觉交互技术的采摘机器人系统设计  

Design of Picking Robot System Based on Visual Interaction Technology

作　　者：苏文芝[1] Su Wenzhi(Jiyuan Vocational and Technical College,Jiyuan 459000,China)

机构地区：[1]济源职业技术学院,河南济源459000

出　　处：《农机化研究》2023年第8期228-230,234,共4页Journal of Agricultural Mechanization Research

基　　金：河南省“十三五”规划项目(2020YB0655);河南省青年骨干教师项目(2018GGJS259)。

摘　　要：以草莓采摘作业过程为研究对象,对草莓自动采摘时出现的损伤现象进行分析,提出一种利用机器视觉交互实现草莓准确识别定位的自动采摘系统,并搭建草莓采摘机器人电气控制模块和机械模块,同时进行系统验证试验。结果表明:在相同的作业环境条件下,在图像采集时进行光源辅助,能够有效提高采摘作业可靠性;通过对不同条件下采摘作业时间进行统计,得出草莓采摘机器人完成单个草莓采摘作业的时间约为10s。此采摘系统可为智能化采摘机器人的设计提供技术参考。This paper takes the strawberry picking process as the research object,through the analysis of the damage phenomenon of strawberry automatic picking,puts forward an automatic picking system using machine vision interaction to realize the accurate recognition and positioning of strawberry,builds the electrical control module and mechanical module of strawberry picking robot,and carries out the system test analysis at the same time.The experimental results show that,under the same working environment,the light source assistance in image acquisition can effectively improve the reliability of picking operation.Through the statistics of picking operation time under different conditions,the time of strawberry picking robot to complete a single strawberry picking operation is about 10 s.The picking system designed in this paper provides technical reference for the design of intelligent picking robot.

关 键 词：采摘机器人 草莓采摘 机器视觉 末端执行器 

分 类 号：S225[农业科学—农业机械化工程] TP242[农业科学—农业工程]