高架草莓采摘机器人设计与试验

Design and Experiment of Elevated Substrate Culture Strawberry Picking Robot

设计了一款针对高架栽培模式的草莓采摘机器人。该机器人由履带式行走机构、基于机器视觉的精密运动定位机构和一个可同步剪切夹持草莓果柄的末端执行器等机构组成,采用以ARM9为核心的分层式控制系统。温室内实地试验表明该机器人能够自主识别、定位并无损伤采摘高架栽培模式下的成熟草莓,采摘成功率可达88%,采摘单颗草莓时间为18.54 s。

A strawberry-picking robot was developed, consisting of a crawler walking mechanism, a machine vision based precision motion positioning mechanism, and an end-effector cutting and gripping strawberry peduncles synchronously, for application to an elevated substrate culture. And the robot was controlled by a layering control system whose kernel was ARM9. The field test in greenhouse indicated that the robot could recognize, locate and pick ripe strawberries in elevated substrate culture with the success rate of 88% , without damaging the fruits, and the execution time of a single pick cycle was 18.54 s.