摘要
由于中国果蔬生产规模越来越大,采摘的人力成本提高,劳动力减少,因而利用机器人等技术实现果蔬的自动采摘已经成为热点研究问题。本文提出基于树莓派和STM32单片机控制实现果蔬自动采摘机器人系统,通过STM32单片机控制机器人底板的运动和稳定,并通过树莓派完成果蔬的图像识别和定位,完成机械臂规划运动路径,使用六自由度的机械手臂以及柔性手爪,获得了相当大的抓取空间并能承受一定数值的抓取质量。本设计完成了原型实物,该采摘机器人通过运行测试验证具有很好的准确性和稳定性,为实现真正自动化农业采摘打下必要的实验基础。
Due to the increasing scale of fruit and vegetable production in China,the increase in labor costs,and the reduction of labor,the use of artificial intelligence,STM32 and Raspberry Pi developed fruit and vegetable picking manipulator,reasonable planning of routes,design of human-computer interaction system,identification of more than two kinds of fruits and vegetables,and can be used in the actual agricultural picking site,the use of wheat wheel to keep the robot stable.With a six-degree-of-freedom robotic arm and flexible grippers,there is considerable gripping space and capable of withstanding a certain amount of grasping quality.This design has completed the prototype physical object and has been verified to have good accuracy and stability through running tests.Through this research,it can lay the necessary experimental foundation for achieving truly automated agricultural harvesting.
作者
黄志豪
宋其江
韩猛
郝一诺
江华
李芷怡
HUANG Zhihao;SONG Qijiang;HAN Meng;HAO Yinuo;JIANG Hua;LI Zhiyi(College of Computer and Control Engineering,Northeast Forestry University,Harbin 150040,China)
出处
《电子测试》
2023年第3期6-10,共5页
Electronic Test
基金
国家级大学生创新训练项目(202310225305)资助
关键词
果蔬采摘
STM32
树莓派
柔性手爪
图像识别
fruit and vegetable picking
STM32
Raspberry Pi
flexible gripper
identification
