基于计算机视觉的采摘机器人智能避障系统研究

Research on Intelligent Obstacle Avoidance System of Picking Robot Based on Computer Vision

为了实现采摘机器人对前进道路上障碍物的避障功能,提出了一种基于计算机视觉技术的采摘机器人智能避障系统。该系统结合计算机视觉技术与嵌入式智能控制技术,引入障碍物立体识别检测技术,将其应用于采摘机器人的静态避障中。试验结果表明:该系统能够准确无误地避开障碍物,并能在动态移动中规划出局部最优路径,证明了该智能避障系统的有效性、准确性和可行性。

In order to realize the obstacle avoidance function of picking robot,it proposed a intelligent obstacle avoidance system for harvesting robot based on computer vision.The system combines the computer vision technology and embedded intelligent control technology,introduces the obstacle stereo recognition detection technology,which was applied to the static obstacle avoidance of the picking robot.The experimental results show that the system can avoid the obstacles accurately and plan the local optimal path in dynamic motion.It proved the effectiveness,accuracy and feasibility of the intelligent obstacle avoidance system.