基于嵌入式机器视觉智能果实分拣机器人设计与试验

Design and experiment of fruit sorting robot based on embedded machine vision

随着人工成本的升高,采用智能化的现代设备代替人类完成一系列重复性的、枯燥的、甚至高强度的劳动是当前机器人研究的一个重要方向。分拣机器人作为农业机器人的重要分支,具有良好的发展潜力。为了实现替代人工将成熟度、大小不同的果实进行识别、分拣,运用STM32单片机、OpenMV机器视觉模块、ESP32单片机设计一款智能分拣果实机器人。OpenMV机器视觉模块采集果实的颜色、大小信息,判断水果是否成熟,STM32单片机控制机器人的运动以及机械臂执行相应的分拣程序,将水果分拣到指定容器,ESP32单片机将分拣数据上传到云端。机器人在设计过程中使用三维建模软件进行结构设计,建立三维模型并进行仿真分析。仿真结果表明在一定程度上能够实现分拣自动化、信息化、高效化。在研究中对实物进行多次、两个分拣点调试,一共分拣了24颗果实,对果实的分拣的成功率达到87.5%,研究结果表明分拣机器人能够实现精准分拣,且达到一定的可靠性和实用性,可以替代人类完成果实精准分拣的工作。

With the increase in labor costs,using intelligent modern equipment to replace humans to complete a series of repetitive,boring,and even high-intensity labor is an important direction in current robot research.Sorting robots,as an important branch of agricultural robots,have good development potential.In order to replace manual,this article used the STM32 microcontroller,OpenMV machine vision module,and ESP32 microcontroller to design an intelligent fruit sorting robot so as to identify and sort fruits with different maturities and sizes.The OpenMV machine vision module collected the color and size information of the fruit,and judged whether the fruit was ripe.The STM32 microcontroller controlled the robot's movement and the robotic arm executed the corresponding sorting program to sort the fruit into the designated container.The ESP32 microcontroller uploaded the sorting data to the cloud.The robot used 3D software for structural design,established 3D models,and conducted simulation analysis during the design process.The simulation results indicated that sorting automation,informatization,and efficiency can be achieved to a certain extent.In the research,multiple and two sorting points were debugged on the physical object,and a total of 24 fruits were sorted.The success rate of fruit sorting reached 87.5%.The research results showed that the sorting robot can achieve precise sorting and achieve a certain degree of reliability and practicality,which can replace human beings to complete the work of precise fruit sorting.