树莓剪枝机器人设计

树莓在我国边疆地区大面积种植,如要有良好的长势,剪枝尤为重要,需要大量的人力。受地理条件限制,边疆地区地广人稀、人力成本高,为降低生产成本,研制树莓剪枝机器人非常必要。为此,针对早春时节树莓需要定植修剪的实际需要,研发了一款树莓剪枝机器人。工作时,以上位机与下位机进行串口通信的控制系统为核心,利用机器视觉技术,对采集到的图像进行实时处理,控制剪枝机器人前进,左右机械臂同时工作,高效地实现对细弱枝、破损枝的识别与剪除。试验表明:树莓剪枝机器人工作时有极大的可靠性与自适应能力,能适应各种复杂环境,可在早春时节实现智能化树莓定植修剪,对过密的细弱枝、破损枝可以齐地剪除。

Design for Raspberry Pruning Robot

The raspberry is cultivated in a large area of our country border areas. Pruning is especially important for raspberries have good growth,and pruning requires a lot of manpower. Limited by geographical conditions,the frontier area is sparsely populated,and the human cost is high,so it is very necessary to develop the pruning robot to reduce the cost of production. Based on the actual needs of pruning raspberry in the early spring,we developed a raspberry pruning robot. The robot is based on the control system of the upper computer and the lower computer as the core,and realizes the real-time image acquisition by using the machine vision technology. By controlling pruning robot forward,left and right arm at the same time work,and efficient implementation of the thin branches,broken branches identification positioning and cut off. Experiments show that the raspberry pruning robot has great reliability and adaptability when working in the field,and can adapt to all kinds of complex environment in the field. In the early spring season,it can realize the intelligence of the raspberry pruning,and the dense thin branches and broken branches can be cut off close to the ground.