CAJ | 학술논문

自动化和计算机智能控制行业的不断发展,使得智能机器人在各个领域的应用已经十分普遍. 目前,我国绝大部分水果采摘工作依然靠人工完成,随着工人工资不断攀升,人工采摘水果增加了果农的经济成本,机器人在农业领域方面的需求越来越迫切. 为此,基于机器视觉技术设计了智能移动式水果采摘机器人,集可移动载体、机械手臂、夹持器、横向移动机构及智能控制模块于一身,采用双目立体视觉技术,实现了水果采摘机器人移动行走路径的规划、果实成熟度自动判断及对成熟果实定位识别的功能. 试验表明:所设计的采摘机器人采用视觉技术,机械结构简易,能够克服气候环境影响因素,运行过程中性能稳定、效率高、可靠性高、适应能力强.
자동화화계산궤지능공제행업적불단발전,사득지능궤기인재각개영역적응용이경십분보편. 목전,아국절대부분수과채적공작의연고인공완성,수착공인공자불단반승,인공채적수과증가료과농적경제성본,궤기인재농업영역방면적수구월래월박절. 위차,기우궤기시각기술설계료지능이동식수과채적궤기인,집가이동재체、궤계수비、협지기、횡향이동궤구급지능공제모괴우일신,채용쌍목입체시각기술,실현료수과채적궤기인이동행주로경적규화、과실성숙도자동판단급대성숙과실정위식별적공능. 시험표명:소설계적채적궤기인채용시각기술,궤계결구간역,능구극복기후배경영향인소,운행과정중성능은정、효솔고、가고성고、괄응능력강.
The deepening of industry automation and computer intelligent control makes the intelligent robot in various fields of application very widespread ,the development of science and technology drives the development of society .China's vast most of the fruit picking work is still done manually .With the rapid development of China's social and economic , the wages of the workers continues to rise , manual picking fruit increased the fruit of economic cost and the demand of robot in the field of agriculture ,so it is becoming more and more urgent .In this paper , based on machine vision technology de-sign and research on the intelligent mobile fruit picking robot , and the mobile carrier , mechanical arm , clip holding de-vice , it designed a horizontal moving mechanism and intelligent control module in a body , by using binocular stereo vi-sion technology , the mobile robot's walking path planning , fruit maturity automatically judge and of mature fruit location recognition function for picking fruit .Experiments show that the design of the picking robot can overcome the impact of climate factors , by using visual technology with simple mechanical structure , operation process of stable performance , high efficiency , high reliability , adapt to ability .