番茄采摘机器人系统设计与试验  

Design and Test of Tomatoes Harvesting Robot

作　　者：王晓楠[1,2] 伍萍辉[1] 冯青春[2] 王国华[2] 

机构地区：[1]河北工业大学电子信息工程学院,天津300401 [2]北京农业智能装备技术研究中心国家农业智能装备工程技术研究中心/农业部农业信息技术重点实验室/农业智能装备技术北京市重点实验室,北京100097

出　　处：《农机化研究》2016年第4期94-98,共5页Journal of Agricultural Mechanization Research

基　　金：国家高技术研究发展计划项目(2013AA10230704)

摘　　要：为了提高鲜食番茄采收的自动化水平,减轻人工采摘劳动强度,设计了一种番茄智能采摘机器人。该采摘机器人包括视觉定位单元、采摘手爪、控制系统及承载平台,并基于各部件工作原理制定了采摘机器人的工作流程。基于HIS色彩模型进行图像分割,提高了果实识别的准确度;通过气囊夹持方式确保果实采摘过程中对果实的柔性夹持。试验结果表明:视觉定位、采摘手爪等模块运转良好,采摘单果番茄耗时约24s,成功率可达8 3.9%以上。In order to improve robotic harvesting for fresh tomato and reduce the amount of human labor , this paper de-signed a tomato intelligent picking robot .The picking robot includes:the vision positioning unit , the picking gripper , the control system and carrying platform .Based on the working principle of each component , the working process of picking robot was revised .Based on HIS color model for image segmentation , the recognition accuracy was improved .It used a method of Airbag gripping to ensure the tomato ’ s integrity .The performance test of picking robot indicated that vision po-sitioning module and the gripper module ran well .The execution time of a single harvest cycle was about 24s, and the success rate for harvesting tomatoes was 83.9%.

关 键 词：番茄 采摘机器人 视觉定位 控制系统 

分 类 号：S225.92[农业科学—农业机械化工程]