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高架草莓采摘機(jī)器人設(shè)計(jì)與試驗(yàn)
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國(guó)家自然科學(xué)基金資助項(xiàng)目（61075098）;中央高校基本科研業(yè)務(wù)費(fèi)專項(xiàng)資金資助項(xiàng)目（2012XJ002）


Design and Experiment of Elevated Substrate Culture Strawberry Picking Robot
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    摘要:

    設(shè)計(jì)了一款針對(duì)高架栽培模式的草莓采摘機(jī)器人,。該機(jī)器人由履帶式行走機(jī)構(gòu),、基于機(jī)器視覺(jué)的精密運(yùn)動(dòng)定位機(jī)構(gòu)和一個(gè)可同步剪切夾持草莓果柄的末端執(zhí)行器等機(jī)構(gòu)組成,，采用以ARM9為核心的分層式控制系統(tǒng)。溫室內(nèi)實(shí)地試驗(yàn)表明該機(jī)器人能夠自主識(shí)別,、定位并無(wú)損傷采摘高架栽培模式下的成熟草莓,，采摘成功率可達(dá)88%,，采摘單顆草莓時(shí)間為18.54s,。

    Abstract:

    A strawberry-picking robot was developed, consisting of a crawler walking mechanism, a machine vision based precision motion positioning mechanism, and an end-effector cutting and gripping strawberry peduncles synchronously, for application to an elevated substrate culture. And the robot was controlled by a layering control system whose kernel was ARM9. The field test in greenhouse indicated that the robot could recognize, locate and pick ripe strawberries in elevated substrate culture with the success rate of 88%, without damaging the fruits, and the execution time of a single pick cycle was 18.54s.

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張凱良,楊麗,王糧局,張麗霞,張鐵中.高架草莓采摘機(jī)器人設(shè)計(jì)與試驗(yàn)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2012,43(9):165-172. Zhang Kailiang, Yang Li, Wang Liangju, Zhang Lixia, Zhang Tiezhong. Design and Experiment of Elevated Substrate Culture Strawberry Picking Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(9):165-172.

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  • 在線發(fā)布日期: 2012-09-04
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