农业采摘机器人自动化监测与规划研究

Research on Automatic Monitoring and Planning of Agricultural Picking Robot

农业采摘机器人的升级有利于解放劳动力,在构建农业采摘机器人系统的基础上,引入算法进行基于立体视觉的农业采摘机器人自动化监测系统设计,在此基础上进行机器人路径规划的研究。实验结果显示目标点的标定误差都在[-10,8]的范围内,测距结果显示测量误差在[-10,30]mm的范围之内,路径规划实验结果显示角位移和速度曲线的走势都是平滑的,没有停顿和振动现象。以上结果说明研究所设计的自动化监测农业采摘机器人系统表现良好,能够满足农作物自动化采摘的需求,能够实现自动化监测,成功规避了视觉延时带来的问题,并且可以保证运行过程中的平稳性。

The upgrading of agricultural picking robot is conducive to liberating the labor force.Based on the construction of agricultural picking robot system,the algorithm is introduced to design the automatic monitoring system of agricultural picking robot based on stereo vision,and the robot path planning is studied on this basis.The experimental results show that the calibration errors of the target points are within the range of[-10,8],and the ranging results show that the measurement errors are within the range of[-10,30]mm.The experimental results of path planning show that the trend of angular displacement and velocity curve is smooth without pause and vibration.The above results show that the automatic monitoring agricultural picking robot system designed by the research institute performs well,can meet the needs of automatic crop picking,can realize automatic monitoring,successfully avoid the problems caused by visual delay,and can ensure the stability in the operation process.