摘要
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。
At present,as the lack of rural labor,it has become a major trend that agricultural robots are used to be instead 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 advance and pick the fruits. In order to realize the work of human computer interaction,the LCD display circuit is designed,and the working state of the picking robot can be understood through its use,and the manufacturing cost is greatly 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.
出处
《农机化研究》
北大核心
2016年第9期234-238,共5页
Journal of Agricultural Mechanization Research
基金
河南省高校重点科研项目(15B535002)
河南省高校重点科研项目(14B510011)
