草莓采摘机器人控制系统的设计  

Design of strawberry picking robot control system

作　　者：吴群彪[1,2] 许侃雯 张洪源 蔡李花 徐超[2] WU Qunbiao;XU Kanwen;ZHANG Hongyuan;CAI Lihua;XU Chao(School of Mechanical-Electronic and Power Engineering,Jiangsu University of Science and Technology,Zhangjiagang 215600,China;Suzhou Institute of Technology,Jiangsu University of Science and Technology,Zhangjiagang 215600,China;School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China)

机构地区：[1]江苏科技大学机电与动力工程学院,江苏张家港215600 [2]江苏科技大学苏州理工学院,江苏张家港215600 [3]北京邮电大学自动化学院,北京100876

出　　处：《包装与食品机械》2021年第2期58-62,共5页Packaging and Food Machinery

基　　金：江苏省科技成果转化专项(BA2017090)。

摘　　要：针对草莓采摘机器人在控制系统方面存在草莓识别不够精准、机器适应性低等问题,为投入实际生产使用,研究并设计一种新型面向垄作草莓的高效采摘控制系统。首先进行总体方案设计,其次对其进行系统控制的软硬件设计,最后进行相关测试。结果表明,控制方案能完成对垄作草莓的高效采摘,可投入实际生产使用。For the problems in strawberry picking robot control system,such as poor recognition accuracy and low machine adaptability,a new high-efficiency picking control system for ridge planted strawberry is studied and designed for practical production.First,the overall scheme is designed,then the system control software and hardware are designed,and finally the relevant tests are carried out.The results show that the control scheme can be used to harvest ridge planted strawberries efficiently and can be put into practical production.

关 键 词：草莓采摘机器人 PID控制 OpenMV 图像识别 

分 类 号：TB486[一般工业技术—包装工程] S225.99[农业科学—农业机械化工程]