智能移动水果采摘机器人设计与试验

设计了一种智能移动水果采摘机器人,该机器人主要由智能移动平台、采摘机械臂、末端执行器、横向滑移机构和控制系统组成。用VC++语言编写了系统控制程序,开发了人机交互界面。样机在江苏省丰县果园进行了综合试验,结果表明:该机器人能够完成自主导航、自主采摘及自主装箱作业,移动平台、采摘机械臂及末端执行器能够实现智能协调控制。整个系统工作性能稳定,成熟果实的识别正确率为81.73%,采摘成功率为86.92%,单个苹果采摘平均耗时9.50 s。

Design and Experiment of Intelligent Mobile Fruit Picking Robot

A prototype for intelligent fruit picking operation was developed. It mainly consisted of intelligent mobile platform, picking arm, end-effector, transverse sliding institution and control systems. The system control program and human-machine interface were programmed with VC++. The comprehensive experiments of the prototype were carried out in the orchard of Feng county in Jiangsu province. Results revealed that this robot could achieve autonomous navigation, independent picking and autonomous binning operation. The mobile platform, picking arm and end-effector can work coordinately, so the whole system performed very well. The correct rate of ripe fruit recognition and success rate of picking reached to 81.73% and 86.92%, respectively, whereas averagely 9.50 s were required for picking a single apple.