| 移动式采摘机器人研究现状与进展 |
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| 引用本文： | 方建军. 移动式采摘机器人研究现状与进展[J]. 农业工程学报, 2004, 20(2): 273-278 |
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| 作者姓名： | 方建军 |
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| 作者单位： | 北方工业大学机电工程学院,北京,100041 |
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| 基金项目： | 北京市教委科技发展基金项目(01kj-030) |
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| 摘 要： | 采摘机器人是21世纪精准农业的重要装备之一，是未来智能农业机械的发展方向。移动式采摘机器人由机械手、末端执行器、移动机构、机器视觉系统以及控制系统等构成。机械手的结构形式和自由度直接影响采摘机器人智能控制的复杂性、作业的灵活性和精度。移动机构的自主导航和机器视觉系统解决采摘机器人的自主行走和目标定位，是整个机器人系统的核心和关键。该文对移动式采摘机器人的研究现状进行综合，提出目前采摘机器人技术发展中面临的技术难题及相应的对策，包括采用开放式控制系统。
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| 关 键 词： | 采摘机器人 机器视觉 自主导航 机械手 末端执行器 开放式控制系统 |
| 文章编号： | 1002-6819(2004)02-0273-06 |
| 收稿时间： | 2003-09-29 |
| 修稿时间： | 2003-09-29 |
Present situation and development of mobile harvesting robot |
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| Fang Jianjun. Present situation and development of mobile harvesting robot[J]. Transactions of the Chinese Society of Agricultural Engineering, 2004, 20(2): 273-278 |
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| Authors: | Fang Jianjun |
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| Abstract: | Fruit-harvesting robot is the vital important equipment of precision agriculture in the 21st century and future trend of intelligent agricultural machinery. A mobile harvesting robot consists of manipulator, end-effector, mobile wheels, machine vision and control system and so on. Configuration and degree-of-freedoms of manipulator have an effect on intelligent control complexity, operation agility and accuracy of harvesting robot. Auto-navigation of mobile wheel and machine vision system, which are key parts of harvesting robot, were in charge of self-navigation and fruits localization respectively. This paper outlined present research situations of mobile harvesting robot and pointed out technical problems confronting harvesting robot. Solutions including open architecture control system were presented. |
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| Keywords: | harvesting robot machine vision auto-navigation manipulator end-effector open architecture control system |
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