收获机器手定位技术的研究进展

Research Advance in Control Technology in Agriculture Robot Proceeding

收获机器人中的机器手定位技术直接影响了收获机器人的作业效果,也是开发实用设备的关键。为此,从定位技术中图像处理技术的改进、基于三维信息的定位技术改进以及基于机器手移动路线的定位技术改进等3方面总结了近年来收获机器手定位技术的研究进展,并提出了在今后相关技术的进一步研究中需要注意定位精度的要求、定位误差与机器手控制误差的关系以及机器人自身位姿对定位技术的影响三方面的问题。

Position technology in harvesting robot has important influence on agriculture robot development in modern agriculture. The development of position technology of harvesting robot in the past several years was summarized from three aspects：image processed technology promotion in position technology, position technology promotion with three -dimension information and the route of harvesting part. And then research directions and methods of relative technology with the study were put forward, such as the position precision, the relationship between position errors and harvesting part control errors, the influence of the robot＇s position.