多类型水果采摘机器人系统设计与性能分析

System Design and Performance Analysis on Multi-type Fruit Harvesting Robot

根据农业机器人的智能化发展需要,研发了能对单果类和串型类水果实现采摘的多类型水果采摘机器人。对水果采摘机器人的软件设计和硬件构造进行了描述,研究了荔枝、柑橘的视觉识别定位方法,以及机械手的行为控制方法,阐明了采摘机器人的作业流程。进行了荔枝、柑橘的采摘作业试验,试验结果表明:系统各模块运转良好,多类型水果采摘机器人进行荔枝采摘的成功率为80%,柑橘采摘的成功率为85%,两类水果采摘一次的平均耗时为28 s。

According to the requirement of agriculture intelligent development, a multi-type fruit harvesting robot was developed,which could realize the harvesting of single fruit and a string of fruits.The software design and hardware structure of fruit harvesting robot were described.The vision identification and positioning method of litchi and citrus were researched.The behavior control method of manipulator was also researched.The work flow of harvesting robot was expounded.The harvesting experiment of litchi and citrus were designed,and the test results indicated that every modules run well.The harvesting success rate of multi-type fruit harvesting robot for litchi was 80%,and for citrus was85%.The average execution time of a single harvest cycle for two kinds of fruit was 28 s.