高架草莓采摘机器人系统研究

发布时间：2018-04-30 01:26

本文选题：高架栽培 + 草莓采摘机器人　；参考：《机械设计与制造》2017年06期

【摘要】：针对传统人工采摘草莓带来的问题以及我国高架草莓种植面积的迅速推广,为实现草莓采摘的自动化、机械化,设计了高架栽培草莓的采摘机器人系统。高架草莓采摘机器人系统由软件和硬件2部分组成。硬件包括履带式行走机构、三自由度工作台、末端采摘机构以及STM32f103vet6芯片作为控制系统硬件。软件包括成熟草莓的识别、三维坐标定位。实验数据表明高架草莓采摘机器人系统可以完成成熟草莓的识别、成熟草莓的双目定位以及成熟草莓的采摘工作。成熟草莓识别率达到95%以上,在1120mm内双目草莓定位精度1.5cm±5%,完全满足草莓采摘的要求。
[Abstract]:Aiming at the problems caused by traditional artificial picking of strawberries and the rapid popularization of the planting area of elevated strawberries in our country, in order to realize the automatization and mechanization of strawberry picking, a robot system for picking strawberries with elevated cultivation was designed. The elevated strawberry picking robot system consists of two parts: software and hardware. The hardware includes crawler walking mechanism, three degree of freedom platform, end picking mechanism and STM32f103vet6 chip as control system hardware. The software includes mature strawberry recognition and 3D coordinate positioning. The experimental data show that the robot system can recognize the mature strawberry, locate the mature strawberry binocular and pick the mature strawberry. The recognition rate of mature strawberry was over 95%, and the positioning accuracy of binocular strawberry in 1120mm was 1.5cm 卤5, which fully met the requirements of strawberry picking.
【作者单位】：新疆大学机械工程学院;
【分类号】：S225;TP242

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