Research on the Movement of Cherry Tomato Picking Robotic Arm Based on Machine Vision
Aiming at the problem that current cherry tomato picking robots cannot guarantee picking with pedicle,this paper pro-poses a method for generating specific robotic arm picking actions through machine vision for analyzing the posture of cherry tomatoes;The method simulates the manual picking process and can ensure that the end effector of the robotic arm reaches the picking position in the same direction as cherry tomatoes;the overall system has the functions of the target detection of ripe cherry tomatoes,realiza-tion of distance measurement algorithm,direction recognition of cherry tomatoes,and generation of robotic arm movements;Based on the idea of contour fitting algorithm,the algorithm is improved to achieve more accurate and stable direction recognition method for cherry tomatoes,so as to obtain the target pose of the end of the robotic arm aligned with the direction of the saint fruit,and then re-alize the corresponding generation of robotic arm picking motions;The multiple experimental results show that the improved recogni-tion algorithm for the direction of cherry tomatoes has a smaller error angle than traditional contour fitting algorithm,and it is more stable for the direction recognition of different cherry tomato postures,therefore,it is more suitable for the generated specific picking action of the robotic arm according to the posture of cherry tomatoes in actual picking process.
cherry tomato picking robotpicking with pediclemachine visioncontour fitting algorithmspecific motion genera-tion of robotic arm
万方数据
维普
