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智能移動水果采摘機器人設計與試驗
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國家高技術研究發(fā)展計劃（863計劃）資助項目(2006AA10Z259)、中央高?；究蒲袠I(yè)務費專項資金資助項目(KYZ201006)和南京農(nóng)業(yè)大學青年科技創(chuàng)新基金資助項目(KJ09030)


Design and Experiment of Intelligent Mobile Fruit Picking Robot
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    摘要:

    設計了一種智能移動水果采摘機器人，該機器人主要由智能移動平臺、采摘機械臂、末端執(zhí)行器、橫向滑移機構和控制系統(tǒng)組成。用VC++語言編寫了系統(tǒng)控制程序，開發(fā)了人機交互界面。樣機在江蘇省豐縣果園進行了綜合試驗，結果表明：該機器人能夠完成自主導航、自主采摘及自主裝箱作業(yè)，移動平臺、采摘機械臂及末端執(zhí)行器能夠?qū)崿F(xiàn)智能協(xié)調(diào)控制。整個系統(tǒng)工作性能穩(wěn)定，成熟果實的識別正確率為81.73%，采摘成功率為86.92%，單個蘋果采摘平均耗時9.50 s。

    Abstract:

    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.

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顧寶興,姬長英,王海青,田光兆,張高陽,王玲.智能移動水果采摘機器人設計與試驗[J].農(nóng)業(yè)機械學報,2012,43(6):153-160. Gu Baoxing, Ji Changying, Wang Haiqing, Tian Guangzhao, Zhang Gaoyang, Wang Ling. Design and Experiment of Intelligent Mobile Fruit Picking Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(6):153-160.

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  • 在線發(fā)布日期: 2012-06-19
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