基于MSP430F149智能监控的苹果采摘机器人设计

目前,农村劳动力的匮乏,农业机器人代替工人作业已经成为一大趋势。绝大部分采摘机器人都是以专业的工业PC机为智能控制平台,所占空间大、功耗高且价格十分高昂,使得智能机器人成本太高,推广的阻力很大。为此,以MSP430F149为核心处理器,结合机器视觉理论技术,设计了一套智能监控的采摘机器人控制系统,可以实时处理采集到的图像,指导采摘机器人前进及采摘目标果实。为了实现人机交互工作,设计了LCD显示电路,可以通过其实时了解采摘机器人的工作状态,且极大地降低了制造成本。实验结果表明:该采摘机器人视觉系统识别错误率低至3.72%,提高了采摘机器人的可靠性和采摘效率,具有很好的应用前景。

Design for Apple-picking Robot Based on MSP430 F149 Intelligent Monitoring

At present, as the lack of rural labor,it has become a major trend that agricultural robots are used to be in-stead of workers.The vast majority of picking robots is a professional industrial PC intelligent control platform, which has a large space, high power consumption,high price and cost, the resistance to agricultural extension.This paper takes MSP430F149 as the core processor, combined with the theory of machine vision technology, it designs a set of intelligent control system for picking robot, which can process the collected images in real time, and guide the picking robot to ad-vance and pick the fruits.In order to realize the work of human computer interaction, the LCD display circuit is de-signed, and the working state of the picking robot can be understood through its use, and the manufacturing cost is great-ly reduced.The experimental results show that the recognition error rate of the robot vision system is low to 3.72%, which improves the reliability and efficiency of picking robot.