气电混合驱动全天候苹果收获机器人设计与试验

Design and Experiment of Apple Harvesting Robot Based on Gas-electric Hybrid Drive

提出了一种基于气电混合驱动且能够全天候工作的高效率苹果收获机器人。该机器人机械臂包含5个自由度,混合使用电动和气动两种驱动方式,同时保证机械臂的准确定位和末端执行器对果实的快速柔性抓取。机器人视觉识别系统结合了机器视觉和深度神经网络方法,在提高系统鲁棒性的同时优化了系统的整体检测速度。此外,机器人配备的夜间照明系统使其能够实现全天候工作。在实验室环境下进行了机器人视觉检测试验和苹果采摘试验,结果表明,视觉系统定位苹果的平均时间为44 ms,机器人的采摘率为81.25%,平均每个苹果的采摘时间为7.81 s。

In order to design a highly efficient apple harvesting robot,an apple harvesting robot was proposed based on gas-electric hybrid that can work around the clock.The design and evaluation of an apple harvesting robot in the laboratory was introduced.The freedom manipulator with five degrees adopted both electric and pneumatic hybrid power as the power source.The electric motor ensured that the arm can accurately position the apple,and the pneumatic motor ensured the end-effector can quickly and flexibly grasp the apple.The apple recognition algorithm combined traditional machine learning methods with the recent popular deep neural network methods to optimize the detection speed while improving the robustness,and used the built-in lighting system to achieve long-term work.The control system included an industrial computer,an AC servo drive,and a pneumatic actuator that controlled the robot arm and the end effector to access and pick the apple.The system carried out visual and picking experiments in a laboratory environment.The average time for visual positioning of apples was 44 ms per image.The harvesting system reached an accuracy of 81.25%with average picking time of 7.81 s per fruit.