草莓收获机器人采摘执行机构设计与试验  

Design and Experiment of Picking Mechanism for Strawberry Harvesting Robot

作　　者：张凯良[1] 杨丽[2] 张铁中[2] 

机构地区：[1]中国科学院自动化研究所,北京100190 [2]中国农业大学工学院,北京100083

出　　处：《农业机械学报》2011年第9期155-161,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(60375036)

摘　　要：设计了一套针对地垄栽培模式下草莓的无损伤自动采摘执行机构。该执行机构可在一定范围内对成熟草莓进行自主识别和精确定位,并以夹持、剪切果柄的方式摘取果实,从而实现草莓的无损伤采摘;所采用的控制方法对视觉传感器精度和机构重复定位精度依赖性较小,利于在进一步推广中控制成本。试验结果表明,该执行机构在实验室环境下对草莓的无损伤采摘成功率可达90%。A part of technologies of mechanism of executive body strawberry harvesting robot was researched and an automatic picking which in connection with the strawberries planted in hill-culture was developed. Ripe strawberries could be distinguished and located by the machine vision system of the executive body, and the fruits were harvested by gripping and cutting peduncles so as to achieve scatheless picking. Moreover, a method that did not depend on high precise equipments was adopted to control the robot, so the cost was reduced greatly. Experiments of the robot were carried out and the results showed that the success ratio of scatheless picking was more than 90%.

关 键 词：草莓 收获机器人 执行器 无损伤采摘 

分 类 号：S126[农业科学—农业基础科学] TP242.6[自动化与计算机技术—检测技术与自动化装置]