知识与财富的链接
目的:解决现有串类水果在机器人分拣中存在的准确性差、分选效率低等问题。方法:基于高速并行食品分拣系统结构,将改进的SURF算法与改进的RANSAC算法相结合用于食品分拣机器人抓取点定位,建立三维抓取模型实现串类水果的自动稳定抓取。以葡萄为例,通过试验验证了所提方法的优越性和准确性。结果:所提方法与常规方法相比,平均抓取成功率提高15.00%左右,平均抓取时间缩短0.101 s。结论:该食品分拣机器人可有效提高串类水果抓持点定位的准确性,具有较高的成功率。
Objective: To solve the problems of poor accuracy and low sorting efficiency of the existing string fruits in robot sorting. Methods: Based on the structure of the high-speed parallel food sorting system, the improved SURF algorithm and the improved RANSAC algorithm were combined to locate the grab points of the food sorting robot, and a three-dimensional grab model was established to realize the automatic and stable grab of string fruits. Taking grapes as an example, the superiority and accuracy of the proposed method were verified by experiments. Results: Compared with the conventional method, the proposed method improved the average capture success rate by about 15.00% and the average capture time by 0.101 s. Conclusion: The food sorting robot can effectively improve the accuracy of the positioning of the holding points of string fruits, and has a high success rate.
