本文選題：高架栽培 + 草莓采摘機(jī)器人�。� 參考：《機(jī)械設(shè)計(jì)與制造》2017年06期

【摘要】：針對傳統(tǒng)人工采摘草莓帶來的問題以及我國高架草莓種植面積的迅速推廣,為實(shí)現(xiàn)草莓采摘的自動化、機(jī)械化,設(shè)計(jì)了高架栽培草莓的采摘機(jī)器人系統(tǒng)。高架草莓采摘機(jī)器人系統(tǒng)由軟件和硬件2部分組成。硬件包括履帶式行走機(jī)構(gòu)、三自由度工作臺、末端采摘機(jī)構(gòu)以及STM32f103vet6芯片作為控制系統(tǒng)硬件。軟件包括成熟草莓的識別、三維坐標(biāo)定位。實(shí)驗(yàn)數(shù)據(jù)表明高架草莓采摘機(jī)器人系統(tǒng)可以完成成熟草莓的識別、成熟草莓的雙目定位以及成熟草莓的采摘工作。成熟草莓識別率達(dá)到95%以上,在1120mm內(nèi)雙目草莓定位精度1.5cm±5%,完全滿足草莓采摘的要求。
[Abstract]:Aiming at the problems caused by traditional artificial picking of strawberries and the rapid popularization of the planting area of elevated strawberries in our country, in order to realize the automatization and mechanization of strawberry picking, a robot system for picking strawberries with elevated cultivation was designed. The elevated strawberry picking robot system consists of two parts: software and hardware. The hardware includes crawler walking mechanism, three degree of freedom platform, end picking mechanism and STM32f103vet6 chip as control system hardware. The software includes mature strawberry recognition and 3D coordinate positioning. The experimental data show that the robot system can recognize the mature strawberry, locate the mature strawberry binocular and pick the mature strawberry. The recognition rate of mature strawberry was over 95%, and the positioning accuracy of binocular strawberry in 1120mm was 1.5cm 鹵5, which fully met the requirements of strawberry picking.
【作者單位】： 新疆大學(xué)機(jī)械工程學(xué)院;
【分類號】：S225;TP242

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