草莓收获机器人采摘执行机构设计与试验.pdfVIP

20 1 1年9 月 农 业 机 械 学 报 第42 卷 第9 期 草莓收获机器人采摘执行机构设计与试验* 1 2 2 张凯良摇 杨摇 丽摇 张铁中 (1.中国科学院自动化研究所,北京 100190;2.中国农业大学工学院,北京 100083) 摇 摇 揖摘要铱摇 设计了一套针对地垄栽培模式下草莓的无损伤自动采摘执行机构。 该执行机构可在一定范围内对 成熟草莓进行自主识别和精确定位,并以夹持、剪切果柄的方式摘取果实,从而实现草莓的无损伤采摘;所采用的 控制方法对视觉传感器精度和机构重复定位精度依赖性较小,利于在进一步推广中控制成本。 试验结果表明,该 执行机构在实验室环境下对草莓的无损伤采摘成功率可达90%。 关键词:草莓摇 收获机器人摇 执行器摇 无损伤采摘 中图分类号:S126;TP242.6 文献标识码:A 文章编号:1000鄄1298(2011)09鄄0155鄄07 Design and Experiment of Picking Mechanism for Strawberry Harvesting Robot 1 2 2 Zhang Kailiang 摇 Yang Li 摇 Zhang Tiezhong (1.Institute of Automation,ChineseAcademy of Sciences,Beijing 100190,China 2.College of Engineering,ChinaAgricultural University,Beijing 100083,China) 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鄄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 scathelesspicking. 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 than90%. Key words摇 Strawberry,Harvesting robot,Actuator,Scatheless picking 国普遍采用的地垄栽培模式下的草莓自动化收获研 摇 摇 引言 究较少。 盂常需气动设备和电动设备的联合作业才