基于Python技术的视觉采摘机器人作业优化

Operation Optimization of the Visual Picking Robot Based on the Python Technology

为进一步提高我国采摘机器人作业的稳定性与适应性,以Python技术为引导,针对视觉采摘机器人展开控制系统设计及深度优化研究。以采摘机器人的主要结构组成为基础,结合设计目标与功能要求,建立准确定位与识别的视觉控制模型;应用图像处理核心算法,进行相应深入细致的Python编程核心优化,得到完整性的采摘作业控制实现系统,并展开针对性的采摘试验。结果表明:基于Python理论的采摘机器人控制优化后,采摘误差得到了进一步降低,系统运行的稳定性好,采摘成功率与整机作业效率同步提高至90%以上,均实现了相对提升度达8.5%以上的改善目标,验证了Python技术应用到采摘控制装置的可行性与优越性,对于类似农机智能化装置的应用有很好的启发作用,值得借鉴与推广。

In order to further improve the stability and universality of the picking robot application in China,the control design and depth optimization of the visual picking robot were proposed based on Python technology.Based on the main structure of the visual picking robot,combined with the design objectives and functional requirements,the visual control model for the accurate positioning and recognition of the picking robot was established.The image processing core algorithm was applied to carry out corresponding in-depth and detailed Python Programming core optimization to obtain an integrated picking operation control implementation system,and targeted picking experiments were carried.The results showed that the picking robot operation control optimization based on Python theory further reduced the picking error and had very good stability,and the success rate of picking and the operation efficiency of the whole machine were increased to more than 90%synchronously,the relative improvement degree was more than 8.5%.The feasibility and superiority of Python technology applied to picking control device were verified,which would be a good initiating effect for the application of similar intelligent devices of the agricultural machinery,and would be worthy of reference and promotion.