草莓采摘机器人技术研究毕业论文

目录

摘要 ............................................................... I Abstract .......................................................... IV 1引言.. (1)

2草莓采摘机器人的国外研究现状及农业机器人特性 (1)

2.1国外研究现状 (1)

2.2国研究现状 (2)

2.3农业机器人的特性 (2)

3草莓采摘机器人基本构造及工作环境 (3)

3.1末端执行器 (3)

3.2视觉传感器 (3)

3.3机械手 (3)

3.4工作环境 (4)

4目前国草莓采摘机器人研究存在的问题 (4)

5主要研究容 (5)

5.1基于Hough变换的成熟草莓识别算法 (5)

5.1.1建立草莓轮廓模型 (5)

5.1.2图像分割、区域标记和有效图像区域 (5)

5.1.3Hough变换识别草莓 (6)

5.1.4成熟草莓识别实验和分析 (7)

5.2基于机器视觉机器人总体构造 (8)

5.2.1机器人机械系统整体设计 (8)

5.2.2运动定位机构设计 (9)

5.2.3末端执行器设计 (10)

5.3基于无线遥控采摘机器人系统构造 (11)

5.3.1系统构成模块 (11)

5.3.2末端执行器 (12)

5.3.3系统控制方案 (14)

5.3.4数据采集试验 (14)

6草莓采摘机器人行走机构的设计 (15)

7草莓采摘机器人零部件材料选用 (16)

8草莓采摘机器人驱动器的选择 (17)

9总结 (17)

参考文献 (19)

致 (20)

Contents

Abstract .......................................................... IV

1 Introduction (1)

2 Strawberry picking robot at home and abroad research status and characteristic agricultural robot (1)

2.1 Foreign research status (1)

2.2 Domestic research status (2)

2.3 Characteristics of the agricultural robots (2)

3 Strawberry picking robot basic structure and working environment . 3

3.1 End of the actuator (3)

3.2 Vision sensors (3)

3.3 Manipulator (3)

3.4 The work environment (4)

4 The problems existing in the research about strawberry picking robot at home and abroad (4)

5 Main research contents (5)

5.1 Ripe strawberry recognition algorithm based on Hough transform

(5)

5.1.1 Strawberry contour model is established (5)

5.1.2 Image segmentation, region labeling and the effective image

area (5)

5.1.3 Hough transform to identify strawberry (6)

5.1.4 Ripe strawberry recognition experiments and analysis (7)

5.2 Based on machine vision robot structure as a whole (8)

5.2.1 Robot mechanical system overall design (8)

5.2.2 Motion positioning mechanism design (9)

5.2.3 End of the actuator design (10)

5.3 Picking robot based on wireless remote control system structure

(11)

5.3.1 System structure module (11)

5.3.2 End of the actuator (12)

5.3.3 System control scheme (14)

5.3.4 Data acquisition test (14)

6 Mechanism of the blueberry picking robot (15)

7 Strawberry picking robot parts material selection (16)

8 Strawberry picking robot drives option (17)

9 Conclusion (17)

References (19)

Acknowledgement (20)