新型苹果采摘机器人的设计与试验

农业机器人是未来农业自动化发展的重要趋势。苹果采摘机器人作为一种典型的农业机器人,却一直难以实现,其主要受限于苹果空间分布的不规律性,以及存在视觉定位及采摘方式等技术难题。基于此,研制了一款新型苹果自动采摘机器人,由四轮驱动移动平台、双目视觉系统、机械臂及采摘手组成。新提出一整套设计方案,区别于多数针对局部的研究和仿真测试。介绍了整体方案的规划、移动平台的设计、双目视觉系统的工作原理以及机械臂的运动规划原理。样机测试识别正确率达到90.08%,采摘成功率为91.31%,平均采摘周期约为29 s,系统整体性能表现优越。

Design and Experiment of?A New Type Apple?Picking Robot

The agricultural robot is an important trend of agricultural automation development in the future. Apple picking robot as a typical agricultural robot has been difficult to achieve due to the irregularities of apple spatial distribution, visual location and picking methods and other technical problems. For these reasons, the paper designed an apple automatic picking robot. It mainly consisted of four wheels mobile platform, binocular vision system, manipulator and picking hand. This paper introduces the planning of overall program, the design of mobile platform, the working principle of the binocular vision system and the motion planning of the manipulator. The correct rate of apple recognition and the success rate of picking was 90.08% and 91.31%, respectively. The average period of picking is about 29s and the performance of overall system is excellent.