智能移动苹果采摘机器人的设计及试验

以ARM9 2440处理器为核心,基于BP神经网络的机器人视觉识别和定位,研制了一种苹果采摘机器人及控制系统。首先应用Photoshop软件将图像分割为640×640像素的图片,然后在RGB颜色空间下,结合数学形态学中值滤波降噪和拉普拉斯算子边缘检测的方法实现果实目标的特征提取,最终完成苹果的定位并在MatLab环境下使用robotics-toolbox工具箱编程仿真。试验结果表明:该机器人能有效识别果实并完成抓取工作,为后续的深入研究奠定了基础。

Design and Experiment of Intelligent Mobile Apple Picking Robot

A kind of apple-picking robert and the control systems have been developed.The whole system is based on processor ARM92440 , which takes advantage of the Robert ’ s visual recognition and positioning ability based on the Neural Network.Firstly, the processor will split the image into pictures of pixels by using the software of Photoshop. Then under the color space of RGB, combining mathematical morphology median filtering and noise reduction Laplacian edge detection methods, the feature extraction of the target fruit could finally be achieved and the location of the fruit will be completed successfully.The processor ARM 92440 drives the four-dimensions-of-freedom mechanical arm to com-plete the clutching experiment for apples indoors.The experimental results show that the fruit is effectively identified and picked, which laid strong foundation for the subsequent thorough study.