水果采摘机器人视觉系统与机械手研究进展  

Research Progress on Vision System and Manipulator of Fruit Picking Robot

作　　者：苟园旻 闫建伟[1] 张富贵[1] 孙成宇 徐勇 GOU Yuanmin;YAN Jianwei;ZHANG Fugui;SUN Chengyu;XU Yong(College of Mechanical Engineering,Guizhou University,Guiyang 550025,China)

机构地区：[1]贵州大学机械工程学院,贵阳550025

出　　处：《计算机工程与应用》2023年第9期13-26,共14页Computer Engineering and Applications

基　　金：贵州省科技计划项目(黔科合平台人才[2019]5616号)。

摘　　要：水果采摘机器人对实现水果装备自动化智能化具有重要意义。对近年国内外水果采摘机器人领域关键技术研究工作进行总结,根据水果采摘机器人的重要组成结构与关键技术,对水果采摘机器人视觉系统的关键技术:传统基于水果特征的图像分割方法如阈值法、边缘检测法、基于颜色特征的聚类算法与基于区域的图像分割算法,基于深度学习的目标识别算法以及目标果实的定位等进行分析和对比;总结了水果采摘机器人机械臂与末端执行器的技术发展现状,指出水果采摘机器人存在的问题;对未来水果采摘机器人的发展趋势及方向进行了展望,可为水果采摘机器人相关研究提供参考。Fruit picking robot is of great significance to the realization of automatic intelligence of fruit equipment.In this paper,the research work on the key technologies of fruit-picking robot at home and abroad in recent years is summarized,firstly,the key technologies of fruit-picking robot vision system,such as traditional image segmentation methods based on fruit features,such as threshold method,edge detection method,clustering algorithm based on color features and regionbased image segmentation algorithm,are discussed,the object recognition algorithm based on depth learning and the target fruit location are analyzed and compared,and the state-of-the-art of fruit picking robot manipulator and end-effector is summarized,finally,the development trend and direction of fruit-picking robot in the future are prospected,which can provide reference for the related research of fruit-picking robot.

关 键 词：采摘机器人 水果收获 机器视觉 神经网络 机械手 

分 类 号：S225.99[农业科学—农业机械化工程] TP391.4[农业科学—农业工程]