CAJ | 학술논문

为了提高葡萄采摘机器人自主导航能力,增强对葡萄成熟度的准确识别功能,降低漏采率和误采率,设计了一种新式的基于RSSI 自主导航和颜色特征提取的葡萄采摘机器人. 该机器人使用 RSSI 定位技术,首先对装有无线传感器的葡萄树进行定位,然后利用机器视觉系统对葡萄的成熟度进行判断,并对满足采摘条件的葡萄使用机械手进行采摘. 对葡萄采摘机器人的性能进行了测试,通过测试发现:机器人对装有传感器的葡萄树的准确识别率达到了95%以上,对葡萄成熟度的判断达到了98%以上,是一种相对高效的葡萄采摘机器人.
위료제고포도채적궤기인자주도항능력,증강대포도성숙도적준학식별공능,강저루채솔화오채솔,설계료일충신식적기우RSSI 자주도항화안색특정제취적포도채적궤기인. 해궤기인사용 RSSI 정위기술,수선대장유무선전감기적포도수진행정위,연후이용궤기시각계통대포도적성숙도진행판단,병대만족채적조건적포도사용궤계수진행채적. 대포도채적궤기인적성능진행료측시,통과측시발현:궤기인대장유전감기적포도수적준학식별솔체도료95%이상,대포도성숙도적판단체도료98%이상,시일충상대고효적포도채적궤기인.
In order to improve the autonomous navigation capability of grape picking robot, and strengthen the function of accurate identification of the grape maturity, lower leakage rate and error rate, a new type of autonomous navigation and color feature extraction based on RSSI grape picking robot has been designed.Grape picking robot using RSSI positioning technology first fixing the vine with wireless sensors, then use the machine vision system on grape maturity of judgment, and to meet the use conditions of the grapes picked for picking manipulator.Grape picking robot performance was tested, by testing found that the robot with sensors of vine of accurate recognition rate reached more than 95%, their appreciation of the grape maturity reached more than 98%, high recognition rate,which is a relatively efficient grape picking robot.