基于Jetson Nano的智能果蔬采摘机器人设计

Design of Intelligent Fruit and Vegetable Harvesting Robot Based on Jetson Nano

针对目前人工果蔬采摘成本较高且国内果蔬采摘机器人发展较慢问题,设计了一类智能果蔬采摘机器人。该机器人的设计采用Jetson Nano开发板进行效率更高的视觉识别(VI:Visual Identity)运算和处理方法,视觉识别使用YOLO V5s算法,运动控制应用五自由度机械臂的运动学正解进行分析并得出其运动学正解公式,进而得知机械臂活动空间,末端执行器采用夹持爪子以便各类果蔬的采摘。最终确定了较为清晰的果蔬采摘智能结构,结果表明,采用Jetson Nano开发板使视觉识别算法运算速率提高10倍以上,通过对正解公式的分析使末端执行器运动更为精准,在可接受偏差内较为完整的实现了果蔬采摘功能。

Because of the high cost of artificial fruit and vegetable picking and slow development of domestic fruit and vegetable picking robots,an intelligent robot is designed to reduce labor costs and time costs.According to the College Students’Innovative Entrepreneurial Training Program,the design process of the fruit and vegetable piking robot is studied,using NVIDIA Jetson Nano development board to improve VI(Visual Identity)computing efficiency.The VI algorithm adopts the YOLO V5s algorithm and the motion control part to analyze the forward kinematics solution of the 5-DOF(Degree-Of-Freedom)mechanical arm,the forward kinematics formula of the 5-DOF mechanical arm is derived,and thus finding out about its activity space.In the End-Effector section,the gripper is used to facilitate the picking of various fruits and vegetables.A clearer intelligent structure for fruit and vegetable picking is established,the speed of VI is increased by more than 10 times by using NVIDIA Jetson Nano.Through the analysis of the forward kinematics formula,the End-Effector Action is more accurate,and also the fruit and vegetable picking aiming is completely realized within an acceptable deviation.