基于STM32的柑橘采摘机器人  

Citrus Harvesting Robot Based on STM32

作　　者：林厚健 蔡子颖 王小增[1] 黄凯升 马展鹏 LIN Hou-jian;CAI Zi-ying;WANG Xiao-zeng;HUANG Kai-sheng;MA Zhan-peng(School of Physics and Electronic Engineering,Jiaying University,Meizhou 514015,China)

机构地区：[1]嘉应学院物理与电子工程学院,广东梅州514015

出　　处：《嘉应学院学报》2023年第6期7-13,共7页Journal of Jiaying University

基　　金：2022年度嘉应学院质量工程(含教改)建设项目(ZLGC2022601);嘉应学院科技项目(2020KJY06);国家级大学生创新训练项目(202210582017)。

摘　　要：为了提高农业自动化程度,设计一款柑橘采摘机器人.机械结构由串口舵机控制的六轴机械臂和履带车底盘组成,在夹爪处安装双摄像头分别实现无线图传、柑橘识别及定位,在摄像头集成板上设计光照检测和灯光控制电路对识别环境进行自动调光.设计了遥控手柄,可对机器人进行手动控制和参数校正,采用PID算法和运动学逆解并通过与摄像头通讯实现目标自动抓取.反复实验验证表明,该柑橘采摘机器人抓取成功率高,稳定性好、适应性强.In order to enhance the level of agricultural automation,a citrus harvesting robot is designed.The mechanical structure consists of a six-axis robotic arm controlled by serial servo motors and a tracked chassis.Two cameras are installed at the gripper for wireless image transmission,fruit recognition,and localization.An integrated board on the camera module incorporates circuits for light detection and automatic lighting control,enabling adaptive lighting conditions during fruit recognition.A remote control joystick is designed for manual control and parameter calibration of the robot.The target automatic grasping is achieved through PID algorithms,inverse kinematics,and communication with the cameras.Extensive experimental validation demonstrates that the citrus harvesting robot achieves a high success rate in fruit grasping,exhibits excellent stability,and possesses strong adaptability.

关 键 词：自动调光 PID算法 运动学逆解 自动抓取 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]