农机化研究2024，Vol.46Issue(7)：38-43,6.
结合YOLOv5与双目视觉定位的摘果机械臂控制研究
Research on the Control of Fruit Picking Manipulator Based on the Fusion of YOLOv5s and Binocular Vision
摘要
Abstract
In order to meet the demand of fruit picking,this paper designs a picking robot based on YOLOv5 and binocu-lar vision.A six-degree-of-freedom robot arm is mounted on an omnidirectional wheel chassis,and the YOLOv5 target detection algorithm is used to identify fruit species and measure plane coordinates,while binocular vision is used to meas-ure depth coordinates.Finally,the fruit is grasped by controlling the change of joint angle.Combined with Android and IoT technology,we realize real-time video remote viewing and robot remote control.Based on YOLOv5,the training of three fruit recognition models was realized,and the model accuracy was 99.7%,recall rate was 99.8%,mAP(0.95)was 89.03%,and the recognition accuracy of each fruit was up to 95%on average;the robot arm projected to the two-dimensional plane for inverse kinematic solving,which reduced the operation volume and operation time,and the average solving time was 0.252s;the peach,orange,and pomegranate models were picked separately.The average single picking time is 13.48s,13.91s and 13.76s.The system has good real-time and accuracy,and can meet the fruit picking re-quirements.关键词
YOLOv5/双目视觉/机械臂/逆运动学/果实采摘Key words
YOLOv5/binocular vision/robotic arm/inverse kinematics/fruit picking分类
农业科技引用本文复制引用
李俊萩,王甲一,孔德肖,张晴晖..结合YOLOv5与双目视觉定位的摘果机械臂控制研究[J].农机化研究,2024,46(7):38-43,6.基金项目
云南省科技厅重大专项生物资源数字化开发应用项目(202002AA10007) （202002AA10007）
云南省教育厅科学研究基金项目(2021J0153) （2021J0153）
