摘要
针对基于视觉的棉花采摘技术,构建了智能型采棉机器人总体设计方案。其电气控制系统中运动控制子系统采用安川MP2100运动控制单元为核心,控制其中的四自由度机械手及X向导轨,具有良好的实时性和扩展性。机器视觉子系统采用SEED-VPM642开发平台为基础,配合3个CCD摄像头进行采集,能够实现高效率和高准确性的图像识别。各个接口模块之间通过PCI总线进行通信,由工控机统一协调处理,以实现高效采摘功能。
A design scheme of the intelligent cotton picking robot is put forward in this paper, based on the machine vision. The motion control subsystem adopts the YASKAWA MP2100 as the core, which can control the robot of 4-DOF and X axis. This kind of design has an excellent capability of real-time and good expansibility. The machine vision subsystem based on the interface module of SEED-VPM642 with 3CCD cameras, can reach an efficient and precise recognition. All the subsystems communicate each other by the PCI bus, and the industrial control computer can coordinate the cotton picking processing.
出处
《制造业自动化》
北大核心
2007年第11期35-39,共5页
Manufacturing Automation
基金
江苏省高校自然科学研究计划项目(05KJD210085)
先进数控技术江苏省重点实验室开放基金项目(KXJ05012
KXJ06123)
关键词
采棉机器人
控制系统
机器视觉
cotton picking robot
control system
machine vision
