青岛农业大学
毕 业 论 文（设计）
姓 名：
学 院： 机电工程学院
专 业： 电气工程及其自动化
班 级： 2010.02
学 号： 20******
**** **
2014 年即期汇率 06 月 16 日
基于图像处理的番茄采摘机器人的设计
摘 要
目前的番茄采摘基本上都是依赖于人工作业而导致劳动力成本高、劳动强度大，而现有的采摘机器人的研究基本上都是停留在理论层面，而极个别物化的成果都是基于计算机，从而导致系统体积过大、功耗高和成本高。为解决以上问题，本文提出并开发了一套基于DSP的番茄采摘机器人。
本文的主要设计内容包括基于DSP的采摘机器人系统的方案设计、各个硬件电路的设计、以及基于汇编语言、C语言和VC++三种编程语言的软件设计。本文的主要贡献为：（1）提出利用DSP代替计算机实现番茄图像的采集、处理和果实的空间三维定位，并进行了验证；（2）提出一种采摘机械手降维的方法，解决了机器人建模复杂且实现困难的问题，并结合三维滑台实现并完成了对空间中番茄的准确抓取和采摘的功能。 试验表明，本文研发的系统能够实现对番茄果实的准确定位和采摘，具有操作简单、体积小巧、功耗低、性价比高等优点。本系统的研发对于提高番茄的采摘效率，减少劳动力、
降低农民的劳动强度和采摘成本具有重要的实际意义，也为精准农业的发展提供了一种新的思路和方法。
landsat关键字：番茄采摘；图像处理；DSP；双目立体视觉
Design of Tomato Picking Robot Based on Image Processing
Abstract
At present, the tomato harvest work mostly depends on the artificial operation, which causes the problems of high-cost, high labor intensity etc. But now, the research of picking robot mainly focuses on the theoretical research. Few materialized productions, which use the computer as the controller, have the characteristicst10钢 of big-system volume, high power-consumption, and high cost etc. To solve the above problems, this paper designs a tomato picking robot based on the DSP.
The main design contents of this paper include the scheme design of robot picking robot based on DSP, the hardware circuit design and software design based on the assembler l
征服者f313anguage, C language and VC++ language. The main contributions of this paper include two aspects: (1) a novel scheme is proposes that DSP is used to take place of the computer to complete the tomato image acquisition, image process and three-dimension localization. (2) an novel approach for reducing dimensions is proposed to reduce the picking manipulator dimensions, which solves the difficulty in robot modeling and realization method. Combing with the three-dimension slipway, the grasping and picking for tomatoes are finished in the space.
This experiment tests indicate that the designed system can realize the accurate positioning and picking for tomatoes, as well as the system has many advantages of the simple operation, compact size, low power and high cost-performance ratio. The development of this system not only has the important meanings in improving the tomato picking efficiency, reducing human labors, reducing the labor intensity of farmers and the picking cost, but also providing a new idea and method for the development of precision agriculture.
马茂元Key words：tomato picking, image process, DSP, binocular stereo vision
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