基于机器视觉的摘果机器人设计

The Design of Fruit Picking Robot Based on Machine Vision

文中针对果农摘果费事费力的问题,结合机器视觉、电机控制等技术的应用,设计了一种摘果机器人。该设计可以通过摄像头自动定位已经成熟的水果,并通过PID算法逐步靠近成熟的水果,再控制机械臂通过PID算法进行摘取,并将采摘的水果放到机器人的箱子中。以苹果为例,经过100次水果成熟度测试,识别成功率为100%;经过100次整机调试,成功摘取率达到了94%。调试结果表明,该设计具有很高的可靠性和实用性,可以代替人工采摘,实现了自动摘果功能。

This paper designs a fruit picking robot based on the application of machine vision and motor control technology.The design can automatically locate the mature fruit through the camera,and gradually approach the mature fruit through the PID algorithm,and then control the mechanical arm to pick through the PID algorithm,and put the picked fruit into the robot's box.Take apple as an example,after 100 fruit maturity tests,the identification success rate is 100%;after 100 complete machine debugging,the successful harvest rate reached 94%.The debugging results show that the design has high reliability and practicability,which can replace manual picking and realize the automatic fruit picking function.