农机化研究Issue(9)：151-155,5.
基于视觉检测的苹果采摘机器人系统设计与实现
Design and Implementation of Apple Picking Robot System Based on Visual Inspection
摘要
Abstract
In order to improve the automation and intelligence level of apple picking,reduce the labor intensity of human and the damage rate of the fruit, the paper developed a wheeled robot system for automatic detection and picking ripe ap-ples.The system is made up of hardware platforms and software platform.The hardware platform includes four-wheel drive off-road car, IPC-610L, image data ac-quisition card, four degrees of freedom manipulator and end-effectors;The software platform includes Visual C ++6.0 development environment, based on binocular vision and image process-ing techniques to achieve the identification and location of apple, then through the manipulator path planning to achieve the apple picking.Through simulation and data analysis show that the robot can realize automatic n-avigation, automatic recognition, automatic picking apples and other functions in the case of unattended.The correct rate of apple recog-ni-tion and the success rate of picking was 94.00%and 91.33%, respectively.The average period of picking is about 11s and the accuracy and stability of the system is excellent.关键词
轮式机器人/苹果采摘/机械臂/双目视觉/图像处理Key words
wheeled robot/apple picking/manipulator/binocular vision/image processing分类
农业科技引用本文复制引用
孙贤刚,伍锡如,党选举,刘金霞..基于视觉检测的苹果采摘机器人系统设计与实现[J].农机化研究,2016,(9):151-155,5.基金项目
国家自然科学基金项目（51465011）；广西自然科学基金项目（2014GXNSFBA118275；2015GXNSFAA139297）；广西高校科研项目 （）
