日光温室番茄采摘机器人设计与试验

Design and Experiment of Tomato Picking Robot in Solar Greenhouse

针对目前日光温室中番茄采摘主要靠人工且费时费力的问题,设计并制作了一种可以应用于日光温室的番茄采摘机器人。该机器人能够在大棚垄道间巡检并自动识别成熟番茄,完成采摘、收集。本设计以STM32微控制器为主控制器,使用麦克纳姆轮全向移动平台作为机器人的移动底盘,采用由Raspberry Pi 4B控制器驱动的深度相机作为成熟番茄的识别装置,底盘上平台安装风力补偿风机、可水平滑动的6自由度机械臂,机械臂搭载了附有薄膜压力传感器的柔性手爪。整个上平台由安装在底盘下平台的垂直升降机构驱动,滑动机构和升降机构均配有测距传感器,通过Raspberry Pi 4B所驱动的摄像头识别与捕捉,再通过串行总线将成熟番茄的坐标数据传输至STM32控制器,STM32控制器通过机械臂逆运动学分析驱动机械臂、滑轨与升降平台的联合动作,配合机械臂末端关节动作,即可实现番茄采摘。

With the popularization and development of solar greenhouse in recent years,more and more crops began to be planted in solar greenhouse.At present,in the greenhouse garden,picking tomatoes mainly relies on fruit farmers to complete manually,which not only consumes a lot of work force,but also wastes a lot of time.Taking tomato as an example,a tomato picking robot was designed which can be applied to solar greenhouse garden,patrol between greenhouse and ridge road and automatically identify ripe tomato in real time,and complete picking and collecting after identifying successful tomato.STM32 microcontroller was the main core of this design.The Mecanum wheel omni directional mobile platform was used as the mobile chassis of the robot,and the depth camera driven by Raspberry Pi 4B controller was used as the recognition device of mature tomatoes.The platform on the chassis was equipped with a wind compensation fan and a 6-DOF horizontal sliding mechanical arm.The arm was equipped with a flexible grip attached to a thin-film pressure sensor.The whole upper platform was driven by the vertical lifting structure installed on the platform under the chassis.The sliding mechanism and the lifting mechanism were equipped with ranging sensors.Through the recognition and capture of the camera driven by Raspberry Pi 4B,the coordinate data of the ripe tomato was transmitted to the STM32 controller through the serial bus.The STM32 controller drove the joint action of the mechanical arm,slide rail and lifting platform through inverse kinematics analysis of the mechanical arm,and can pick tomatoes at different heights and depths with the action of the end joint of the mechanical arm.