基于KVM的新一代采摘机器人设计研究  

Design and Research of a New Generation Picking Robot Based on KVM

作　　者：李奇[1] Li Qi(Huaihua Polytechnic College,Huaihua 418000,China)

机构地区：[1]怀化职业技术学院,湖南怀化418000

出　　处：《农机化研究》2021年第12期148-151,156,共5页Journal of Agricultural Mechanization Research

基　　金：湖南省教育厅科学研究立项项目(18c1657)。

摘　　要：针对采摘机器人在果蔬采摘时不能准确识别和精准采摘方面的问题,基于KVM技术对新一代采摘机器人进行了设计和研究。该采摘机器人的主要组成部分为硬件系统和软件系统。对采摘机器人的软件系统进行设计,包括采用静态和动态的果蔬识别方式、采用PID控制算法进行自动导航、采用人工势场的方法进行采摘时的避障,保证了果蔬的准确识别和精准采摘。为了验证采摘机器人的采摘性能,采用识别定位和采摘试验进行验证。结果表明:采摘机器人的识别和采摘性能良好,可以满足农户对于采摘机器人的性能要求。Aiming at the problem of inexact identification and unaccurate picking during fruit and vegetable picking, the latest generation of picking robots was designed and studied based on KVM technology. The picking robots were constituted of hardware system and software system. The software of the picking robot was designed to ensure the exact identification and accurate picking. It included that adopted the static state and dynamic state identification pattern, automatic navigation by the control of PID control method, obstacle avoidance by the method of artificial potential field. To verify the picking performance of the picking robot, the identification and picking tests were done. The test results show that the identification and picking performance of picking robot were well, and it could meet the performance requirement of farmer.

关 键 词：采摘机器人 KVM技术 软件系统 PID控制算法 人工势场 果蔬识别 

分 类 号：S225[农业科学—农业机械化工程] TP242[农业科学—农业工程]