一种基于柔性机械手和视觉识别的水果分拣机设计  

Design of a Fruit Sorting Machine Based on Flexible Manipulator and Visual Recognition

作　　者：王梓函 刘子涵 张东煜 Wang Zihan;Liu Zihan(College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin,China)

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨 [2]不详

出　　处：《科学技术创新》2024年第18期224-228,共5页Scientific and Technological Innovation

基　　金：东北林业大学大学生创新创业训练计划项目202310225122。

摘　　要：随着农业现代化的发展,水果分拣机对于促进农业装备智能化发展具有重要意义。本文提出了一种基于柔性机械手和计算机视觉识别技术的水果分拣机设计方案。该方案设计了一种具有自适应性且对水果损伤小的柔性机械手,结合计算机视觉技术,可以高效准确地进行水果特征识别和分拣。本文介绍了分拣机的总体方案设计、各模块设计、视觉识别与处理流程,并通过实验验证了本方案的有效性。With the modernization of agriculture,fruit sorting machines play a significant role in promoting the intelligent development of agricultural equipment.This paper presents the design of a fruit sorting machine based on flexible manipulator and computer vision technology.The proposed design features an adaptive flexible manipulator that minimizes damage to fruits.Combined with computer vision technology,the machine is able to identify and sort fruits efficiently and accurately.The paper introduces the design scheme of the whole sorter and each modules,as well as the vision recognition and processing workflow.Furthermore,the effectiveness of the proposed solution is validated through experimentation.

关 键 词：水果分拣 柔性机械手 视觉识别 分拣机 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP391.4[自动化与计算机技术—控制科学与工程]