|
|||||
|
|
| 开放式茄子采摘机器人设计与试验 | |
| 引用本文： | 宋健,孙学岩,张铁中,张宾,徐丽明.开放式茄子采摘机器人设计与试验[J].农业机械学报,2009,40(1):143-147. |
| 作者姓名： | 宋健 孙学岩 张铁中 张宾 徐丽明 |
| 作者单位： | 1. 潍坊学院机电工程学院,潍坊,261061;中国农业大学工学院,北京,100083 2. 潍坊学院机电工程学院,潍坊,261061 3. 中国农业大学工学院,北京,100083 |
| 基金项目： | 国家自然科学基金，山东省自然科学基金 |
| 摘 要： | 根据茄子生长的空间分布,利用优化设计方法进行了机器人本体结构参数设计,开发了4自由度关节式采摘机器人机械本体.采用基于直方图的固定双阈值法对G-B灰度图像进行分割.根据果蔬采摘机器人对视觉系统的要求,提取了果实目标的轮廓、面积、质心、外接矩形以及切断点等特征.整机性能测试结果表明:以单摄像头两步法测距,当测量距离在275～575mm范围内,测量误差基本都在±18mm之内;整机试验系统运行稳定可靠,抓取成功率为89%,平均耗时37.4s. |
| 关 键 词： | 采摘机器人 茄子 机械结构 图像处理 开放式控制系统 |
Design and Experiment of Opening Picking Robot for Eggplant |
|
| Song Jian,Sun Xueyan,Zhang Tiezhong,Zhang Bin,Xu Liming.Design and Experiment of Opening Picking Robot for Eggplant[J].Transactions of the Chinese Society of Agricultural Machinery,2009,40(1):143-147. | |
| Authors: | Song Jian Sun Xueyan Zhang Tiezhong Zhang Bin Xu Liming |
| Institution: | 1.College of Mechanical and Electrical Engineering;Weifang University;Weifang 261061;China 2.College of Engineering;China Agricultural University;Beijing 100083;China |
| Abstract: | The optimal design was made on the parameters of the robot framework and structure according to the growth distribution space of eggplant.A joint type robot with 4-degree freedom for fruit and vegetable picking was developed.The fixed bilateral threshold based histogram was adopted to split the G-B gray images. To meet the vision requirement of the fruit and vegetable picking robot,the object's characters,such as outline,area,center of gravity,enclosing rectangle and the point of cutting off,were picked up.... |
| Keywords: | Picking robot Eggplant Mechanism Image processing Opening control system |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |
| 点击此处可从《农业机械学报》浏览原始摘要信息 | |
| 点击此处可从《农业机械学报》下载免费的PDF全文 | |