Design of a wheeled flower picking robot:Taking Abelmoschus manihot(Linn.)Medicus as an example
In order to solve the problem that the specific harvesting time and the manual picking efficiency of Abelmoschus manihot are too low,and to meet the needs of mechanization and intelligence in picking all kinds of flowers,a wheeled flower picking robot is designed by taking Abelmoschus manihot(Linn.)Medicus as an example and combining their growth characteristics.The system adopts industrial computer and embedded microcontroller as the main control system of the machine.The actuator of the machine is powered by electric drive in the form of battery.The wheel type walking mechanism is composed of multiple pusher motor actuators and dynamic bases(a mechanism that can automatically adjust the inclination of the working platform based on the attitude reference system).Two cameras are used to obtain the flower images of hollyhock respectively,and the depth recognition algorithm is used to screen and identify the picking targets.Multiple steering gears and pulley structure are used to form the control structure of mechanical arm and gripper to complete the picking and collection of flowers.The experimental results show that the robot can locate flowers with 75%accuracy and 100%recognition rate.The picking robot can successfully complete the picking operation in the test field through the main control system.The robot arm cooperates with its gripper to successfully grasp the flowers.The upper computer software can complete the operations such as image acquisition and recognition,robot arm control and robot working route driving.It is suitable for the collection of yellow marshmallow and other plant flowers.
Abelmoschus manihotmachine visiondeep learningagricultural automationflower pickinginertial navigation system
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