摘要
随着自动化技术在农业生产中应用的逐渐推广,农业生产智能化、自动化水平越来越高,采摘机器人在果蔬采摘过程中的应用逐渐广泛。果蔬采摘完成后的分拣作业是较为繁重的工作,为克服传统分拣作业分拣效率低、分拣精度差等问题,在深入研究机器视觉工作原理的基础上,进行了机器视觉系统的数学建模,完成了采摘机器人分拣控制系统总体方案的设计。同时,将机器视觉技术应用到采摘机器人的分拣作业中,完成系统硬件模块的设计、选型及软件流程设计,并对该系统进行了仿真实验。实验结果表明:基于机器视觉的采摘机器人分拣控制系统结构简单,目标识别和分拣精度高,系统安全性和稳定性较高,具有较大的推广价值。
With the gradual promotion of the application of automation technology in agricultural production, the intelligent and automated level of agricultural production is getting higher and higher, and the application of picking robots in the process of fruit and vegetable picking is gradually becoming wider.The sorting operation after the fruit and vegetable picking is also relatively heavy work.In order to overcome the problems of low sorting efficiency and poor sorting accuracy of traditional sorting operations, this paper has carried out machine vision Mathematical modeling, completed the design of the overall scheme of the picking robot sorting control system, applied machine vision technology to the sorting operation of the picking robot,completed the design and selection of the system hardware modules, and finally carried out the picking robot sorting control system Software flow design and simulation experiments on the system.Experiments show that the picking robot-based picking control system based on machine vision has a simple structure, high target recognition and sorting accuracy, high system security and stability, and has great promotion value.
作者
唐媛红
刘月云
Tang Yuanhong;Liu Yueyun(Jiangsu Food and Drug Vocational and Technical College,Huai'an 223003,China)
出处
《农机化研究》
北大核心
2021年第11期216-220,共5页
Journal of Agricultural Mechanization Research
基金
江苏省高等学校自然科学研究项目(18kjb460013)。
关键词
采摘机器人
机器视觉
分拣控制
仿真实验
picking robot
machine vision
sorting control
simulation experiment
