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草莓收獲機器人采摘執(zhí)行機構設計與試驗
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國家自然科學基金資助項目（60375036）


Design and Experiment of Picking Mechanism for Strawberry Harvesting Robot
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    摘要:

    設計了一套針對地壟栽培模式下草莓的無損傷自動采摘執(zhí)行機構,。該執(zhí)行機構可在一定范圍內對成熟草莓進行自主識別和精確定位，并以夾持,、剪切果柄的方式摘取果實,，從而實現(xiàn)草莓的無損傷采摘；所采用的控制方法對視覺傳感器精度和機構重復定位精度依賴性較小,，利于在進一步推廣中控制成本,。試驗結果表明，該執(zhí)行機構在實驗室環(huán)境下對草莓的無損傷采摘成功率可達90%,。

    Abstract:

    A part of technologies of strawberry harvesting robot was researched and an automatic picking mechanism of executive body which in connection with the strawberries planted in hill-culture was developed. Ripe strawberries could be distinguished and located by the machine vision system of the executive body, and the fruits were harvested by gripping and cutting peduncles so as to achieve scatheless picking. Moreover, a method that did not depend on high precise equipments was adopted to control the robot, so the cost was reduced greatly. Experiments of the robot were carried out and the results showed that the success ratio of scatheless picking was more than 90%.

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張凱良,楊麗,張鐵中.草莓收獲機器人采摘執(zhí)行機構設計與試驗[J].農業(yè)機械學報,2011,42(9):155-161. Zhang Kailiang, Yang Li, Zhang Tiezhong. Design and Experiment of Picking Mechanism for Strawberry Harvesting Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(9):155-161.

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