摘要
枸杞,别名枸杞子,是茄科小灌木枸杞的成熟果实,不但可食,而且还是名贵中成药。我国枸杞分布广泛,但是受生长习性的影响,枸杞采摘成为行业发展的关键技术难题。为了实现全自动枸杞采摘,文章分析研究了市场上枸杞采摘机的种类、结构和原理,综合对比了国内各类枸杞采摘机的优缺点,设计了一种以OpenMV为核心控制器的全自动枸杞采摘机器人。该机器人利用Open MV的颜色识别,得到色块坐标,通过比较色块的坐标与图像中心的偏移,通过PID算法控制电机的运动方向,并使用I2C总线通信,控制机械臂运行以及用机械振动原理设计的采摘头工作。经初步测试,该全自动枸杞采摘机器人功能基本得以实现。
Lycium barbarum,also known as Lycium barbarum,is the mature fruit of Lycium barbarum,a small shrub of Solanaceae.It is not only edible,but also a valuable traditional Chinese medicine.Lycium barbarum is widely distributed in China,but affected by its growth habits,Lycium barbarum picking has become a key technical problem in the development of the industry.In order to realize full-automatic medlar picking,through the research on the types,structure and principle of medlar picking machines in the market,we analyzed and compared the advantages and disadvantages of various medlar picking machines in China,and comprehensively designed a full-automatic medlar picking robot with openmv as the core controller.The robot uses the color recognition of openmv to obtain the color block coordinates,and then compares the offset between the color block coordinates and the image center,controls the movement direction of the motor through PID algorithm,and uses I2C bus communication to control the operation of the mechanical arm and the working of the picking head designed based on the principle of mechanical vibration.The experimental results show that the automatic medlar picking robot is stable and reliable,with high picking rate and high net picking rate.It can greatly speed up the medlar picking efficiency and reduce the labor cost,which is of great significance to the development of China’s booming medlar industry.
作者
李慧
胡文婷
谢淑芬
袁绍秋
Li Hui;Hu Wenting;Xie Shufen;Yuan Shaoqiu(Department of Computer and Information Engineering,Xinjiang Agricultural University,Urumchi 830052,China)
出处
《无线互联科技》
2022年第17期53-56,共4页
Wireless Internet Technology
基金
新疆维吾尔自治区大学生创新训练计划项目,项目名称:全自动枸杞采摘机器人,项目编号:S202010758027。
