学习实践

大二阶段项目——国家级大学生创新训练计划项目《基于机器视觉和柔性末端的脐橙采摘机器人》

首先打开电源开关通电初始化各种元器件,再点击运行按钮,就可以通过openMV4 巡线,之后运行到相应的停车标志的位置,就停车运行相应的机械臂动作组,先观察目标的大致位置,通过摄像头模块进行运算,将大致的坐标位置给stm32f4单片机,之后单片机通过串口通信协议“#1P600#2P900#8P2500T100\r\n”控制相应的电机运动到相应的位置,实现目标的抓取。

原理图和PCB

总体流程

柔性机械抓测试,简单的3D打印件和一个简单的直流电机

PID测试,对于目标的检测和跟踪功能。

前方的舵机云台和后方的STM32扩展板

STM32F407主控板

巡线功能测试

solidworks装配体

机械臂总体结构和柔性机械抓,小车前部的openMV巡线模块

机械臂上方的为K210摄像头模块,有水果篮和左边的esp32-cam监控设备

Author

wwq136@163.com
I am a junior majoring in Measurement and Control Technology and Instrumentation, with a passion for exploration and innovation. I have participated in various competitions, such as the Electronic Design Competition and Intelligent Vehicle Competition, and have contributed to national innovation projects, including the development of a fruit-picking robot. I possess strong embedded systems skills, working with platforms like STM32, Arduino, Raspberry Pi, and Jetson Nano, alongside proficiency in C/C++ and Python programming. My interests lie in the intersection of robotics and artificial intelligence, particularly in areas like computer vision (CV) and natural language processing (NLP), with a focus on machine learning. I am constantly learning AI-related technologies and exploring ways to integrate them into practical applications, aspiring to develop digital twins incorporating AI. I use Ubuntu 22.04 both on WSL2 for Windows and on my server. Currently, I am preparing for the IELTS, aiming for a 7.0 score, with a current score of 6.5. My future academic goal is to study at a top 50 QS university in Australia, such as UNSW Sydney, the country’s top-ranked university for engineering. Post-graduation, I plan to pursue entrepreneurship, focusing on local AI model deployment, particularly in healthcare. In addition to my technical pursuits, I am fascinated by Western culture, history, and philosophy, and I look forward to returning to Europe to further explore these areas.
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