基于三维视觉的水果采摘机器人技术研究-农业机械化工程专业论文.docxVIP

AbstractThe Abstract The characteristic and the research status of agriculture robot are summarized in this paper．Three key problems that influence the application of agriculture robot are pointed out．In order to resolve those problems，the relevant technologies for fruit-picking robot are studied on the platform of embedded system． In this paper,the main study task is the 3D computer vision technology of fruit·picking robot．In order to resolve the problem of the conditionality between artificial iutelligence level and cost of agriculture robot,study work is mainly carried out oo the platform of embedded system．During the course of studying the vision system，a new method of recognizing fruit target based on color space reference list of fruit surface color distribution is put forward in this paper This approach makes the computer system of fruit-picking robot able to pick various fruit，enhances the using frequency of agriculture robot，and reduces the cOSt per product．In the course of studying the vision system，we propose a new flexible technique to easily calibrate cameras，which make the robot more easy to use and make unnecessary exact and costly equipment for calibrating cRlneras，therefore also reduce the cost ofusing robot． Considering the functions of agriculture robot，a simple light model of 4DOF robot，which can reduce the cost ofthe robot，is also designed． Finally,the robot motion control system is designed based on the Galil DMC 2280 motion controller, which gets 3D coordinate paranleters of object from vision system and controls the movement of fruit-picking robot． Key words：Fruit harvest，Computer vision，Robot，Agricultural robot，Embedded system ⅡI 独创性声明本人声明所呈交的论文是我个人在导师指导下进行的研究工作及取得的研究成 独创性声明 本人声明所呈交的论文是我个人在导师指导下进行的研究工作及取得的研究成 果。尽我所知，除了文中特别加以标注和致谢的地方外，论文中不包含其他人已经发 表或撰写过的研究成果，也不包含为获得中国农业大学或其它教育机构的学位或证书 而使用过的材料。与我一同工作的同志对本研究所做的任何贡献均已在论文中作了明 确的说明并表示了谢意。 研究生签名 撅鑫 时间：伽尹年弓月口／日 关于论文使用授权的说明 本人完全了解中国农业大学有关保留、使用学位论文的规定，即：学校有权保留 送交论文的复印件和磁盘，允许论文被查阅和借阅，可以采用影印、缩印或扫描等复 制手段