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基于机器视觉的智能草莓采摘机器人结构设计与试验 被引量:12

Structure Design and Experiment of Intelligent Strawberry Picking Robot Based on Machine Vision
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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.
作者 张青 陶睿志 丁苏生 张飞翔 沈志强 ZHANG Qing;TAO Rui-zhi;DING Su-sheng;ZHANG Fei-xiang;SHEN Zhi-qiang(Department of Mechanical Design,Manufacturing and Automation,Chuzhou University,Chuzhou,239000,Anhui)
出处 《蚌埠学院学报》 2019年第2期52-56,共5页 Journal of Bengbu University
基金 滁州学院校级规划项目(2016GH10 2016GH11) 滁州学院校级创新创业项目(2018CXXL025)
关键词 高架草莓 采摘 机器视角 elevated strawberry picking machine vision
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