摘要
为解决采摘机器人在抓取中的目标识别、位置定位及系统控制方面准确率低,自主能力差等问题。提出一种基于深度学习的采摘机器人,该机器人系统以树莓派为主控核心,结合舵机和多种传感器组等模块,通过建立机器人运动学模型,实现从关节到末端执行机构的映射,采用视觉技术建立目标识别与定位模型,通过视觉反馈来控制机器人。试验结果表明,该机器人具有较高的识别能力与定位准确率,并具有较高的控制效率。
In order to solve the problems of low accuracy and poor autonomy of picking robot in aspects of target recognition,position positioning and system control in grasping,a type of picking robot based on deep learning is proposed.The robot system takes raspberry pie as control core,combined with the steering gear and a variety of sensor modules,through the establishment of the robot kinematics model,achieves the mapping from the joint to the end of the actuator.The vision technology is adopted to establish the target identification and positioning model,and it controls the robot through the visual feedback.The experimental results show that the robot has higher recognition ability and positioning accuracy,and has higher control efficiency.
作者
覃书波
胡美婧
陈昌熙
QIN Shubo;HU Meijing;CHEN Changxi(School of Electrical and Information Engineering,Anhui University of Science and Technology,Huainan 232001,China;School of Earth and Environment,Anhui University of Science and Technology,Huainan 232001,China;School of Computer and Engineering,Anhui University of Science and Technology,Huainan 232001,China)
出处
《现代信息科技》
2023年第1期154-158,共5页
Modern Information Technology
基金
安徽省省级大学生创新创业训练计划项目(S202110361119)。
