摘要
设计了一套针对地垄栽培模式下的草莓智能采摘机器人。该草莓采摘机器人可在一定范围内基于机器视觉识别成熟草莓位置和精准定位,并以夹持、扭转果柄的方式摘取果实,从而实现草莓的无损伤采摘。设计的采摘机器人由三轴精确运动同步滑台机构,三菱fx3n PLC控制系统,视觉识别系统组成,并采用面向对象编程工具C#编写了控制终端及视觉自动采摘算法。试验结果表明,该机具有精度好,自动化程度高、结构合理等特点。在试验环境下对草莓的平均判别速度为1 s,果实误判率为7%,采摘成功率为90%,达到设计要求。
The intelligent strawberry harvesting robot was designed and an automatic picking mechanism of executive body which in connection with the strawberries planted in hill-culture was developed.Based on the machine vision system of the mechanism,mature strawberries could be distinguished and located and the ripe fruits were picked by gripping and reversing peduncles so as to obtain scatheless picking.It consisted of XYZ three-axial sliding table,PLC control system based on Mitsubishi fx3n,vision recognition system.And the control terminal and visual automatic picking algorithm was designed by C#.The robot of strawberry picking has good accuracy,high automation,strong resisting disturbance capability as well as reasonable structure.The experimental results show that the average discrimination speed is 1 s,the wrong rate of fruit is 7%and the success rate of picking can reach 90%,can satisfy the requirements of picking test for strawberry harvesting robot.
作者
凌轩
刘江涛
梁超越
王旭东
Ling Xuan;Liu Jiangtao;Liang Chaoyue;Wang Xudong(College of Mechanical&Electrical Engineering,Zhongkai University of Agriculture and Engineering,Guangzhou 510225,China)
出处
《现代农业装备》
2021年第1期46-50,共5页
Modern Agricultural Equipment
基金
广东省科技计划项目(2015A030401097)。
关键词
草莓
采摘机器人
机器视觉
三轴滑台
strawberry
picking robot
machine vision
three-axial sliding table
