日本不卡视频在线_国产69精品久久久久孕妇_风间一区二区无码有码_1024国产精品免费观看

歡迎來(lái)到園藝星球（共享文庫(kù)）！ | 幫助中心 分享價(jià)值，成長(zhǎng)自我！
園藝星球（共享文庫(kù)）
換一換
首頁(yè) 園藝星球（共享文庫(kù)） > 資源分類 > PDF文檔下載
 

基于Kinect的機(jī)器人采摘果蔬系統(tǒng)設(shè)計(jì).pdf

  • 資源ID：4444       資源大?。?span id="uyss28m" class="font-tahoma">4.27MB        全文頁(yè)數(shù)：5頁(yè)
  • 資源格式： PDF        下載權(quán)限：游客/注冊(cè)會(huì)員/VIP會(huì)員    下載費(fèi)用：0金幣 【人民幣0元】
快捷注冊(cè)下載 游客一鍵下載
會(huì)員登錄下載
微信登錄
下載資源需要0金幣 【人民幣0元】
郵箱/手機(jī)：
溫馨提示：
系統(tǒng)會(huì)自動(dòng)生成賬號(hào)（用戶名和密碼都是您填寫的郵箱或者手機(jī)號(hào)），方便下次登錄下載和查詢訂單；
驗(yàn)證碼：   換一換

加入VIP,免費(fèi)下載
 
友情提示
2、PDF文件下載后，可能會(huì)被瀏覽器默認(rèn)打開，此種情況可以點(diǎn)擊瀏覽器菜單，保存網(wǎng)頁(yè)到桌面，既可以正常下載了。
3、本站不支持迅雷下載，請(qǐng)使用電腦自帶的IE瀏覽器，或者360瀏覽器、谷歌瀏覽器下載即可。
4、本站資源下載后的文檔和圖紙-無(wú)水印,預(yù)覽文檔經(jīng)過(guò)壓縮，下載后原文更清晰   

基于Kinect的機(jī)器人采摘果蔬系統(tǒng)設(shè)計(jì).pdf

<p>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp;， &nbsp; （ &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; 430081） &nbsp; ： &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; Kinect V2 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; Kinect V2 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;； &nbsp; ， &nbsp; &nbsp; &nbsp; NAO &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ； &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; &nbsp; &nbsp; ： &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;、 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;。 &nbsp; &nbsp;： &nbsp; &nbsp; ； Kinect &nbsp; &nbsp; ； NAO &nbsp; &nbsp;； &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;： &nbsp; &nbsp; ； &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ： &nbsp; &nbsp; &nbsp;： &nbsp; &nbsp; &nbsp; &nbsp; （ &nbsp; &nbsp; ） &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp;1 2 。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;3 4 。 &nbsp; &nbsp; &nbsp;20 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; 5 。 &nbsp; &nbsp;Yamamoto &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp;3 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 6 ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 7 。 &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; BP &nbsp; &nbsp; 8 &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; LRCD &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;。 LRCD &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;9 ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ： 2017 06 22 &nbsp; &nbsp; ： &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; （61371190） &nbsp; &nbsp; ： &nbsp; （1992 ）， &nbsp;， &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp;，（Email） wangxin920112163. com。 &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; &nbsp; Kinect V2 &nbsp; &nbsp; ， &nbsp; NAO &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 、 &nbsp; 。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; . &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;Kinect V2 &nbsp; &nbsp; &nbsp; &nbsp;、 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; 1 &nbsp; 。 &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; Time of Flight（ToF） &nbsp; Depth &nbsp; ， Depth &nbsp; &nbsp; &nbsp; 0. 5 4. 5m。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp;1 &nbsp; &nbsp; &nbsp; Fig. 1 Infrared pulse &nbsp; &nbsp; Kinect V2 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp;Kinect V1 &nbsp; &nbsp; &nbsp;· 9 9 1 · 2018 &nbsp;10 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 10 &nbsp; &nbsp; &nbsp; 0. 5m， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;、 &nbsp; &nbsp; &nbsp; &nbsp;。 &nbsp; Kinect V2 &nbsp; &nbsp; &nbsp; &nbsp; 2 &nbsp; 。 &nbsp;2 Kinect &nbsp; &nbsp; &nbsp;Fig. 2 Real time depth map Kinect &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;。 Kinect &nbsp; &nbsp; &nbsp; &nbsp; 3 &nbsp; 。 &nbsp;3 Kinect &nbsp; &nbsp; &nbsp;Fig. 3 The spatial coordinate system of Kinect &nbsp;. &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp;4 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 、 &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 、 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;（Matrix Ir） &nbsp;370. 306512 0 255. 405011 0 0 370. 180404 209. 588891 0 0 0 1 0 （1） &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; （Rotation） &nbsp;0. 999981 0. 005340 0. 002741 0. 005348 0. 999982 0. 002714 0. 002726 0. 002728 0. 999992 （2） &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; （Translation） &nbsp;： 0. 047444 0. 002786 0. 012890 （3） &nbsp;4 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; Fig. 4 Depth camera and color camera calibration &nbsp;. &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; Kinect &nbsp; &nbsp; &nbsp; &nbsp; 16 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;。 &nbsp; &nbsp; &nbsp; &nbsp;（ &nbsp; ， &nbsp; ， &nbsp; ） ， &nbsp; &nbsp; &nbsp;（ &nbsp; ， &nbsp; ） ， &nbsp;UI &nbsp; &nbsp; &nbsp; TextBlock， &nbsp; &nbsp; &nbsp; &nbsp; MouseLeftButtonUp &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;· &nbsp; &nbsp; 1 &nbsp; 0 &nbsp;0 0 0 &nbsp; &nbsp;0 0 0 0 1 0 · &nbsp;11 &nbsp;12 &nbsp;13 &nbsp;1 &nbsp;21 &nbsp;22 &nbsp;23 &nbsp;2 &nbsp;31 &nbsp;32 &nbsp;33 &nbsp;3 · &nbsp; &nbsp; &nbsp; 1 （4） &nbsp;. &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; （1） &nbsp;（4）， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 255. 41 · &nbsp; 370. 31 （5） &nbsp; &nbsp; 209. 60 · &nbsp; 370. 02 （6） &nbsp; （5） &nbsp;（6） &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;（ &nbsp; ， &nbsp; ， &nbsp; ） 。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; NAO &nbsp; &nbsp; &nbsp; &nbsp;5 &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; D H &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp;1 &nbsp;2 &nbsp;3 &nbsp;4 &nbsp;5 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 0 0 0 1 （7） · 0 0 2 · 2018 &nbsp;10 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 10 &nbsp; （7） &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;。 &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;。 &nbsp; D H &nbsp; NAO &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ，5 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; RShoulderPitch 、RShoulderRoll 、RElbowYaw 、REl bowRoll 、RWristYaw 。 &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;0 &nbsp; 1 &nbsp; &nbsp; &nbsp; 1 &nbsp; &nbsp; &nbsp; 1 &nbsp; &nbsp; 1 &nbsp; &nbsp; &nbsp; 1 &nbsp; &nbsp; &nbsp; 1 &nbsp; &nbsp; &nbsp; 1 &nbsp; &nbsp; 1 &nbsp; &nbsp; &nbsp; 1 0 0 0 1 （8） &nbsp; ， &nbsp; &nbsp;sin &nbsp;， &nbsp; &nbsp;cos &nbsp;， &nbsp; &nbsp; 1 sin &nbsp; 1 ， &nbsp; &nbsp; 1 cos &nbsp; 1 。 NAO &nbsp; &nbsp; &nbsp; D H &nbsp; &nbsp; 1 &nbsp; 。 &nbsp;1 NAO &nbsp; &nbsp; &nbsp;D H &nbsp; Table 1 The NAO robot arm D H parameters &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;1 5 2 乙 0 , 1 0 澆 2 / . 086 2. 086 2 5 2 覡 0 , 2 0 澆 1 / . 562 0. 078 3 5 2 乙 105 T 3 0 澆 2 / . 086 2. 086 4 5 2 覡 0 , 4 0 澆 1 / . 562 0. 009 5 5 0 113 3 . 7 5 0 澆 1 / . 824 1. 824NAO &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; RElbowYaw、RWristYaw &nbsp;RElbowRoll &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp;RElbowYaw &nbsp;RwristYaw &nbsp;RElbowRoll （9） &nbsp; &nbsp; &nbsp;5 &nbsp; &nbsp; &nbsp;D H &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; （7） （9） &nbsp; tan 1 113. 7 &nbsp; &nbsp; 113. 7 &nbsp; &nbsp; （10） &nbsp; ， &nbsp; &nbsp;。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;5 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp;5 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp;5 &nbsp; &nbsp; 5 &nbsp; &nbsp;Fig. 5 Five joints of the right arm of NAO robot &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;NAO &nbsp; &nbsp; &nbsp;WiFi &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; IP &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 NAOqi &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;（LPC） &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; ALMemory &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; &nbsp; &nbsp; &nbsp; Python &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp;Py thon &nbsp; &nbsp;NAOqi &nbsp;AldebaranSDV， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;。 Kinect V2 &nbsp; C &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;PC &nbsp;， &nbsp; &nbsp; &nbsp;PC &nbsp; &nbsp; &nbsp; &nbsp;Kinect &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp;。 &nbsp; &nbsp; &nbsp; &nbsp;. &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;6 &nbsp; 。 &nbsp;6 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; Fig. 6 Flow chart of robot picking fruits and vegetables &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;： 1）Kinect V2 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp;RGB &nbsp; &nbsp; &nbsp; &nbsp;· 1 0 2 · 2018 &nbsp;10 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 10 &nbsp; &nbsp; 。 2） &nbsp; &nbsp; &nbsp; &nbsp; MouseLeftButtonUp &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; （ &nbsp; ， &nbsp; ， &nbsp; ） &nbsp; &nbsp; &nbsp; Torso &nbsp; &nbsp; （ &nbsp; ， &nbsp; ， &nbsp; ） ， &nbsp;Kinect &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;。 3） &nbsp; NAOqi &nbsp; &nbsp; walkto（x，y，theta） &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ； &nbsp; &nbsp; Kinect &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;5mm， &nbsp; &nbsp; &nbsp;walkto &nbsp; &nbsp; &nbsp; &nbsp; 。 4） &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;，NAO &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; 7 &nbsp; 。 &nbsp;7 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;Fig. 7 Robot picks up fruits and vegetables &nbsp;. &nbsp; &nbsp; &nbsp; &nbsp;Kinect &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;2 &nbsp; 。 &nbsp;Kinect &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp;2mm &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; 0. 15s。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;50 &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; 3 &nbsp; 。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; 78。 &nbsp;2 Kinect &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;Table 2 Several groups of 3D coordinates obtained by Kinect m &nbsp; &nbsp; &nbsp; 0 鞍 . 114 72 0 父 . 341 93 2 % . 091 85 0 鞍 . 247 30 0 父 . 321 58 0 % . 578 21 0 晻 . 121 92 0 父 . 328 12 1 % . 108 89 0 晻 . 255 78 0 父 . 289 82 0 % . 712 86 0 鞍 . 191 91 0 父 . 302 43 0 % . 704 94 &nbsp;3 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; Table 3 Robot picking up fruits and vegetables statistics &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 50 檔 &nbsp; &nbsp; 39 檔 &nbsp; &nbsp; 78 晻 . 0 &nbsp; &nbsp; &nbsp; &nbsp; s 0 m . 15 &nbsp; &nbsp; &nbsp; s 5 亖 . 2 &nbsp; &nbsp; &nbsp; &nbsp;Kinect &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 2mm， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; ， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 。 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; D H &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;， &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;。 &nbsp; &nbsp; ： 1 &nbsp; &nbsp;. &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;D. &nbsp; ： &nbsp; &nbsp; &nbsp; ，2013. 2 &nbsp; &nbsp;. &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; D. &nbsp; ： &nbsp; &nbsp; &nbsp; ，2012. 3 Scarfe A J，F(xiàn)lemmer R C，Bakker H H， et al. Development of an autonomous kiwifruit picking robotC International Conference on Autonomous Robots andAgents. IEEE， 2009： 380 384. 4 Schuetz C，Baur J，PfaffJ，etal. Evaluationofadirectopti mizationmethodfortrajectoryplanningofa 9 DOFredundant fruit picking manipulatorC IEEE International Confer ence on Robotics and Automation. Seattle，WA，USA： IEEE， 2015：2660 2666. 5 Zhou Z，BontsemaJ，VanL. DevelopmentofCucumberHar vesting Robot inNetherlandsJ. TransactionsoftheChinese Society of Agricultural Engineering， 2001（6）：77 80. 6 Yamamoto S，HayashiS，YoshidaH，etal. Developmentofa stationary robotic strawberry harvester with picking mecha nismthat approaches target fruit from below. （Part 3） Per formance test with a movable bench system. J. Japan Agri cultural Research Quarterly， 2014， 71（6）：71 78. 7 &nbsp; &nbsp;. &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;D. &nbsp; ： &nbsp; &nbsp; &nbsp; ， 2006. （ &nbsp; &nbsp;207 &nbsp;） · 2 0 2 · 2018 &nbsp;10 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 10 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; J. &nbsp; &nbsp; &nbsp; &nbsp; ，2010，30 （1）：197 201. 22 &nbsp; ， &nbsp; &nbsp;， &nbsp; ， &nbsp;. &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; J. &nbsp; &nbsp; &nbsp; ，2010，34（7）： 854. 23 &nbsp; &nbsp;， &nbsp; &nbsp;， &nbsp; &nbsp;， &nbsp;. &nbsp; &nbsp; &nbsp; &nbsp; SVM &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;J. &nbsp; &nbsp; &nbsp;，2013，35（8）：30 34. 24 &nbsp; &nbsp;， &nbsp; . &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; J. &nbsp; &nbsp; &nbsp; ，2014，45（9）：44 54. 25 &nbsp; ， &nbsp; &nbsp;. &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; J. &nbsp; &nbsp; &nbsp; &nbsp;，2009（4）：42 46. 26 &nbsp; &nbsp;， &nbsp; ， &nbsp; &nbsp;， &nbsp;. &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;J. &nbsp; &nbsp; ，2014，34（7）：1 7. &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; Based on the Standard Motion Detection System of Soccer Match Wang Meng （Inner Mongolia Medical University， Hohhot 010110， China） &nbsp; &nbsp; &nbsp; &nbsp; ：Inthepickingprocessofstrawberrybrokenfruit，inordertoreducethedamagerateoffruit，improvetherobot picking efficiency， it proposes an edge detection algorithm to capture the standard action of picking robot motor skills training methodbasedonthemethodofreferencetechnologyforfootballstandardantiplayedgedetectioninthefierce，so it canachievethebestactioncapturerobot. Inordertoimprovetheeffectofedgedetection，itcomparedtheSobelopera tor， Reborts operator， Log operator and Canny operator. Finally，the Log operator with higher accuracy is used to detect the edge of the image. The simulation and experiment of two methods to verify the scheme，as demonstrated by the simu lation and experimental results，the scheme can effectively capture the best attitude of the picking robot，and the scheme of training of picking robot can significantly reduce caused by the process of picking fruit damage rate，which provides a reference for the design of modern technology high precision picking ro</p>

注意事項(xiàng)

本文（基于Kinect的機(jī)器人采摘果蔬系統(tǒng)設(shè)計(jì).pdf）為本站會(huì)員（magazine@RS）主動(dòng)上傳，園藝星球（共享文庫(kù)）僅提供信息存儲(chǔ)空間，僅對(duì)用戶上傳內(nèi)容的表現(xiàn)方式做保護(hù)處理，對(duì)上載內(nèi)容本身不做任何修改或編輯。 若此文所含內(nèi)容侵犯了您的版權(quán)或隱私，請(qǐng)立即通知園藝星球（共享文庫(kù)）（發(fā)送郵件至admin@cngreenhouse.com或直接QQ聯(lián)系客服），我們立即給予刪除！

溫馨提示：如果因?yàn)榫W(wǎng)速或其他原因下載失敗請(qǐng)重新下載，重復(fù)下載不扣分。




固源瑞禾
關(guān)于我們 - 網(wǎng)站聲明 - 網(wǎng)站地圖 - 資源地圖 - 友情鏈接 - 網(wǎng)站客服 - 聯(lián)系我們

copyright@ 2018-2020 華科資源|Richland Sources版權(quán)所有
經(jīng)營(yíng)許可證編號(hào)：京ICP備09050149號(hào)-1

     京公網(wǎng)安備 11010502048994號(hào)


 

 

 

收起
展開