一种果蔬采摘竞赛机器人的设计  

Design of a Fruit and Vegetable Picking Competition Robot

作　　者：袁越 赵大旭[1] Yuan Yue;Zhao Daxu(School of Opto Electromechanical Engineering,Zhejiang Agriculture and Forestry University,Zhejiang Hangzhou 311300)

机构地区：[1]浙江农林大学光机电工程学院,浙江杭州311300

出　　处：《南方农机》2022年第17期17-20,共4页

基　　金：浙江省公益技术研究计划项目(LGN20E050003);浙江省重点研发计划项目(2019C0203)。

摘　　要：针对果蔬自动化、智能化采摘的技术需求,中国机器人及人工智能大赛推出了采摘机器人子项目。在此背景下,课题组设计了一款用于果蔬采摘机器人竞赛的智能机器人。机器人采用轮式移动底盘与关节型机械臂结合的形式,能够利用视觉导航按照规划路径移动,可通过视觉方式检测沿途中固定和随机的作业对象,确定目标后实施采摘作业,并且根据竞赛规则搭建了场地,进行了实际测试与调试。试验结果显示,机器人性能稳定,作业可靠且效率高,而且最终在比赛过程中得以验证,取得了良好成绩。In response to the technical needs of fruit and vegetable automation and intelligent picking,the China Robotics and Artificial Intelligence Competition has launched a picking robot sub-project.In this context,the research group designed an intelligent robot for the fruit and vegetable picking robot competition.The robot adopts the combination of a wheeled mobile chassis and an articulated mechanical arm.It can use visual navigation to move according to the planned path,and visually detect fixed and random work objects along the way.After determining the target,the picking operation is carried out and constructed according to the competition rules.The actual test and debugging were carried out.The test results showed that the robot has stable performance,reliable operation and high efficiency,and was finally verified during the competition and achieved good results.

关 键 词：果蔬采摘机器人 机械系统 控制系统 机器视觉 

分 类 号：S225[农业科学—农业机械化工程]