高架栽培草莓采摘机器人系统设计

为了提高草莓采收自动化水平,针对高架栽培草莓设计了自动采摘机器人系统,其采用无线遥控和语音提示相结合的人机交互方式,可以对机器人本体两侧果实同时进行采摘。该系统采用机器视觉和声纳测距相结合的方式实现了自主导航,通过双目视觉相机对果实进行识别和空间定位,由关节型机械臂操纵末端执行器进行定位。系统末端执行器采用果实吸附、果柄夹持和电热切割的方式对果实进行柔性操作。针对系统控制方案,制定了采摘机器人系统作业流程,并对机械臂末端运动路径节点和时间节拍进行规划,防止与周围环境发生运动干涉,保证机器人作业效率。试验结果表明,草莓采摘机器人系统末端定位平均误差小于2.2mm,单次采摘作业平均耗时10.99s。

Design of Strawberry Harvesting Robot on Table-top Culture

In order to improve robotic harvesting for strawberry,the harvesting robot system was designed for strawberry grown on table-top culture,which was able to harvest fruits on both sides with wireless operation and voice promotion.Based on machine vision and sonar,the independent navigation was completed.And fruits were distinguished and located by binocular-vision system,besides the end-effector was positioned by a joint-type manipulator.The flexible operations for fruit include sucking fruit,holding and electrically cutting fruit-stem.According to the control system,the task sequence of the harvest operation was described.The collision-free and efficient motion of manipulator by time step was planned.Finally,as the experimental result showed,the harvesting robot finished a single harvest operation in 10.99 seconds,and the error for fruit location was less than 2.19mm.