Intelligent Strawberry Assisted Picking Mechanism
The intelligent fruit assisted picking mechanical device,which is composed of a mechanical claw,a mechanical arm,a rotatable base,a visual control system and a motion control system.The vision processing system uses the camera to obtain the position information of the fruit and estimate the ripeness of the fruit according to the image characteristics.The collected information is transmitted to the STM32F103 controller,and then control the precise action of the actuator by an algorithm combining expert rules and PID,implement the use of sickle-type mechanical claw automatically pick ripe fruit.The picking device is reasonable in design,has high intelligence,and has important promotion value for picking different fruits.
Sickle type mechanical claw Machine vision Mechanical arm Expert rules PID control algorithm
Ying WU Tie-bin WU Xin-miao XIAO Shuofeng HOU
Hunan University of Humanities,Science and Technology,Loudi 417000,China
国际会议
长沙
英文
209-213
2019-08-30（万方平台首次上网日期，不代表论文的发表时间）