摘要
针对蜂王浆采集生成效率低、机械化程度不足的问题,设计了五自由度的蜂王浆自动采集机器人系统。系统利用OpenCV的机器视觉库通过图像处理算法识别蜂王幼虫,然后将幼虫信息的图像坐标转换到世界坐标系,根据运动学正反解原理,完成机械臂捡虫动作,并利用OpenGL进行系统运动学模拟仿真实验,验证了系统的合理性和实用性。
Aiming at the problems about low productivity and mechanization of Royal Jelly col-lection, a Royal Jelly collecting robot with 5 de-grees of freedom is designed. Firstly, the system u-sing image processing algorithm to identify the queen bee larvae based on OpenCV. Then the coor-dinate points of queen bee larvae are converted to world coordinate system to help the manipulator picks up queen bee larvae according to Forward Ki-nematics and Inverse Kinematics. A large number of system kinematics simulation experiments based on OpenGL prove the rationality and practicality of the control system.
出处
《机械与电子》
2013年第3期61-65,共5页
Machinery & Electronics
基金
工业科技支撑计划(CE20120086)
