智能柚子采摘机器人设计
Design of intelligent grapefruit picking robot
丘文佳 1王路平 1李滨1
作者信息
- 1. 东北林业大学机电工程学院,黑龙江哈尔滨 150040
- 折叠
摘要
智能柚子采摘机器人设计是在其他相关果蔬采摘机器人的基础上进行的迁移、类比和改进.按照智能柚子采摘机器人的功能需求,选择钣金件来做机械手臂部分,3D打印的软质光敏树脂做柔性手指,并选择适宜行走在山丘地带的履带机构以及单片机STC系列控制履带行走和手抓采摘动作.结合OpenMV以及摄像头等外部设备与避障传感器,达到对柚子的识别、采摘和避障行走.智能柚子采摘机器大大降低了采摘成本,间接提高了运输效率,将更多新鲜柚子及时运送到市场,同时也将人从采摘柚子这种单一枯燥的劳动中解放出来.
Abstract
The design of this intelligent grapefruit picking robot is based on the migration,analogy and improvement of other related fruit and vegetable picking robots.According to the functional requirements of the intelligent grape-fruit picking robot,sheet metal parts are selected to make the robotic arm part,and soft 3D printed photosensitive resin is used as a flexible finger.The track mechanism suitable for walking in the hilly area and the STC series of mi-crocontroller are selected to control the track walking and hand picking actions.By combining OpenMV,camera and other external devices with obstacle avoidance sensors,grapefruit recognition,picking and obstacle avoidance walking can be achieved.The intelligent grapefruit picking machine greatly reduces the picking cost,indirectly im-proves the transportation efficiency,delivers more fresh grapefruit to the market in time,and also liberates people from the single boring labor of picking grapefruit.
关键词
采摘机器人/智能化/图像识别Key words
picking robot/intelligent image/recogniton引用本文复制引用
基金项目
哈尔滨市科技局创新人才基金(2017RALXJ011)
出版年
2024
NETL
NSTL
维普
万方数据