基于计算机视觉的采摘机器人作业优化研究  

Research on Operation Optimization of Picking Robot Based on Computer Vision

作　　者：王新科[1] 李凯[1] Wang Xinke;Li Kai(Zhengzhou Technical College,Zhengzhou 450121,China)

机构地区：[1]郑州职业技术学院,郑州450121

出　　处：《农机化研究》2024年第8期235-239,共5页Journal of Agricultural Mechanization Research

基　　金：河南省高等学校重点科研项目(22B520053)。

摘　　要：为进一步提高我国采摘机器人智能化作业水平及采摘效率,基于计算机视觉应用技术展开优化研究。以采摘机器人结构组成为设计基点,运用视觉控制核心理念建立采摘机器人视觉识别处理与控制数学模型,实施相适应的采摘路径规划和系统采摘状态输出设计。同时,进行视觉采摘验证试验,结果表明:基于计算机视觉的采摘机器人系统优化正确可行,整机综合采摘效率可达94.61%,系统识别准确率与控制精度分别相对提升了6.12%和5.25%,机器人采摘成功率可提升至95.98%。因此,将计算机视觉处理技术有效应用至采摘机器人设计改进,对于类似农业采摘与收获装备开发研究可提供创新及借鉴思路,推广价值良好。In order to further improve the intelligent operation level and picking efficiency of picking robots in China,op-timization research was carried out based on computer vision application technology.Taking the structure group of the picking robot as the design basis,the mathematical model of the visual recognition processing and control of the picking robot was established by using the core concept of visual control,the appropriate picking path planning and the system picking state output design were implemented,and the visual picking verification test was carried.The results showed that the optimization of the picking robot system based on computer vision was correct and feasible,and the overall picking efficiency of the whole machine could reach 94.61%,the recognition accuracy and control accuracy of the system were increased by 6.12%and 5.25%respectively;the robot picking success rate could be increased to 95.98%due to the accuracy of the computer vision processing technology and the flexible coordination of the picking execution compo-nents.The effective application of the computer vision processing technology to the design and improvement of the picking robot would provide innovative and reference ideas for the development and research of similar agricultural picking and harvesting equipment,with good promotion value.

关 键 词：采摘机器人 计算机视觉 视觉控制 识别准确率 采摘成功率 

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