基于机器视觉的智能草莓采摘机器人结构设计与试验
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摘要
现有的草莓采摘机器人对识别系统定位精度要求较高,基于此,针对高架草莓提出了一种对识别定位精度要求不高的框式结构末端执行器,设计出了智能草莓采摘机器人,并进行了整机作业试验。试验结果表明:在晴朗的白天,加光源后采摘成功率高于不加光源下的情况;加光源后,采摘机器人在阴雨的白天和晚上采摘成功率均高于天晴时的白天。该研究结果为智能草莓采摘机器人的开发研究提供了技术参考。
The existing strawberry picking robots have higher requirements on positioning accuracy of recognition system. It put forward a frame-shape structure end effector in this paper with low requirement for recognition and positioning accuracy for the elevated strawberry,and an intelligent strawberry picking robot was designed. In addition,the complete machine operation was tested. The test results showed that,in the cloudless daytime,the success rate of strawberry picking with light source is higher than that without light source. After adding the light source,the success rate of strawberry picking robot in rainy day is higher than that in sunny day,no matter the daytime or night. The research results will provide significant technical reference for the development and research of intelligent strawberry picking robot.
The existing strawberry picking robots have higher requirements on positioning accuracy of recognition system. It put forward a frame-shape structure end effector in this paper with low requirement for recognition and positioning accuracy for the elevated strawberry,and an intelligent strawberry picking robot was designed. In addition,the complete machine operation was tested. The test results showed that,in the cloudless daytime,the success rate of strawberry picking with light source is higher than that without light source. After adding the light source,the success rate of strawberry picking robot in rainy day is higher than that in sunny day,no matter the daytime or night. The research results will provide significant technical reference for the development and research of intelligent strawberry picking robot.
引文
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[8]李冲冲,马晓录,郭永刚,等.一种跨垄式草莓采摘车的设计[J].机械研究与应用,2018(3):149-151.
[9]赵玲,周桂红.基于颜色特征的草莓成熟度识别技术研究[J].河北农业大学学报,2017(2):101-105.
[2]翟毅豪,邓志恒,张俊雄.温室采摘机器人末端执行器研究进展[J].农业工程技术,2018(22):20-26.
[3]杨冀,覃晓涛,王忠萍,等.新型草莓采摘机的设计与应用[J].南方农机,2018(2):38.
[4]侯贵洋,赵桂杰,王璐瑶.草莓采摘机器人图像识别系统研究[J].软件,2018(6):192-196.
[5]李长勇,房爱青.高架草莓采摘机器人系统研究[J].机械与设计制造,2017(6):245-251.
[6]李培林,左仁辉,李中刚,等.高架草莓绿色栽培技术研究[J].河南农业,2018(5):22-23.
[7]张曼,徐瑞峰,冯青春,等.单驱双夹式草莓末端执行器设计[J].农机化研究,2019(6):93-97.
[8]李冲冲,马晓录,郭永刚,等.一种跨垄式草莓采摘车的设计[J].机械研究与应用,2018(3):149-151.
[9]赵玲,周桂红.基于颜色特征的草莓成熟度识别技术研究[J].河北农业大学学报,2017(2):101-105.