【作者】 赵德安； 吕继东； 姬伟； 陈玉； 张颖；

【Author】 Zhao De-An,Lv Jidong,Ji Wei,Chen Yu,Zhang Ying(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang,Jiangsu 212013,China)

【机构】 江苏大学电气信息与工程学院；

【摘要】 研制了果树采摘机器人及控制系统。机械臂为PRRRP结构,采摘果实的末端操作器固连于机械臂上,末端操作器上安装了视觉传感器、位置定位传感器、压力传感器和碰触传感器。操作器的开合由气动控制,当操作器夹住果实后,由安装在操作器一侧的电动刀具切割果柄。硬件平台采用KP-6420i型工控机和台达交流伺服驱动器,视觉系统采用VFW图像采集系统。软件基于VisualC++6.0开发环境,采用基于径向基函数支持向量机的果实图像识别方法,可以满足果树采摘机器人对图像实时处理的速度要求,通过串行通信实现对机械臂的运动控制。制作了实验样机,通过实验室和果园采摘实验验证了设计的合理性和有效性。更多还原

【Abstract】 Fruit picking robot and its control system was designed.Robot arm with end-manipulator used PRRRP structure.Visual sensor,position sensor,processor sensor and force sensor were installed on end-manipulator.The open and close of end-manipulator was controlled by the gas pressure.Fruit stalk was cut by electric knife fixed at a side of end-manipulator after end-manipulator had clipped a fruit.The system hardware includes KP-6420i industrial control computer and delta AC servo driver,and the visual system used the VFW image acquisition system.The fruit recognition method of radial basis function SVM on the basis of Visual C++ 6.0 development environment was used system software which can meet fruit harvesting robot in real-time control of image processing speed and the motion control of robot arm by serial communication.Finally,the experimental sample device was made,and the harvesting experiment in laboratory and garden validated the rationality and the effectiveness of the design.更多还原