日光温室番茄采摘机器人设计与试验

针对目前日光温室中番茄采摘主要靠人工且费时费力的问题,设计并制作了一种可以应用于日光温室的番茄采摘机器人.该机器人能够在大棚垄道间巡检并自动识别成熟番茄,完成采摘、收集.本设计以STM32微控制器为主控制器,使用麦克纳姆轮全向移动平台作为机器人的移动底盘,采用由Raspberry Pi 4B控制器驱动的深度相机作为成熟...

Design and Experiment of Tomato Picking Robot in Solar Greenhouse

With the popularization and development of solar greenhouse in recent years, more and more crops began to be planted in solar greenhouse. At present, in the greenhouse garden, picking tomatoes mainly relies on fruit farmers to complete manually, which not only consumes a lot of work force, but also wastes a lot of time. Taking tomato as an example, a tomato picking robot was designed which can be applied to solar greenhouse garden, patrol between greenhouse and ridge road and automatically identify ripe tomato in real time, and complete picking and collecting after identifying successful tomato. STM32 microcontroller was the main core of this design. The Mecanum wheel omni directional mobile platform was used as the mobile chassis of the robot, and the depth camera driven by Raspberry Pi 4B controller was used as the recognition device of mature tomatoes. The platform on the chassis was equipped with a wind compensation fan and a 6-DOF horizontal sliding mechanical arm. The arm was equipped with a flexible grip attached to a thin-film pressure sensor. The whole upper platform was driven by the vertical lifting structure installed on the platform under the chassis. The sliding mechanism and the lifting mechanism were equipped with ranging sensors. Through the recognition and capture of the camera driven by Raspberry Pi 4B, the coordinate data of the ripe tomato was transmitted to the STM32 controller through the serial bus. The STM32 controller drove the joint action of the mechanical arm, slide rail and lifting platform through inverse kinematics analysis of the mechanical arm, and can pick tomatoes at different heights and depths with the action of the end joint of the mechanical arm.