基于PLC和机器视觉的采摘机器人智能控制系统设计

Design of Intelligent Control System for Picking Robot Based on PLC and Machine Vision

利用PLC和机器视觉技术,采用图像传感器拍摄水果图像,提取出目标水果图像的坐标和位姿,并以此驱动控制采摘机器人以最优路径和最佳姿态采摘到目标水果。为了验证系统稳定性,在苹果种植区进行了实际采摘试验,结果表明:采摘机器人机械手可以稳定抓持到目标苹果并完成采摘过程,且期间耗时较短,具有较强的稳定性。

It uses PLC and machine vision technology to extract the coordinates and posture of the target fruit image,which is captured by image sensor,and then drives and controls the picking robot to pick the target fruit in the optimal path and posture.In order to verify the stability of the system,it carried out a practical harvesting experiment in apple planting area.The experimental results show that the harvesting robot manipulator can grasp the target apple stably and complete the harvesting process,and the time consuming is shorter,so it has strong stability.