丘陵果园自然环境下柑橘采摘机器人设计与试验  

Design and Experiment of Citrus Picking Robot in Hilly Orchard Natural Environment

作　　者：鲍秀兰[1,2] 马志涛 马萧杰 黎亦书 任梦涛 李善军 BAO Xiulan;MA Zhitao;MA Xiaojie;LI Yishu;REN Mengtao;LI Shanjun(College of Engineering,Huazhong Agricultural University,Wuhan 430070,China;Key Laboratory of Agricultural Equipment in Mid-lower Yangtze River,Ministry of Agriculture and Rural Affairs,Wuhan 430070,China)

机构地区：[1]华中农业大学工学院,武汉430070 [2]农业农村部长江中下游农业装备重点实验室,武汉430070

出　　处：《农业机械学报》2024年第4期124-135,共12页Transactions of the Chinese Society for Agricultural Machinery

基　　金：湖北省农机装备补短板核心技术应用攻关项目(HBSNYT202219);国家重点研发计划项目(2020YFD1000101)。

摘　　要：智慧果园是未来果园行业发展的趋势,智能化果实采摘是发展智慧果园的关键问题。为实现智能化果实采摘,本文搭建了一种适用于丘陵果园矮化栽培模式下的柑橘采摘机器人系统。针对丘陵果园垄间地面凹凸不平,存在地形倾斜角0°~20°,设计了一种自适应调平平台保持机械臂基座水平;通过视觉系统获取多幅点云图像建立果树的三维点云模型,获取果实位置信息;为避免采摘时造成果实损伤,结合柑橘类水果的采摘特点,设计了一种剪切夹持一体化的末端执行器完成柑橘采摘。针对果园自然环境的主要扰动因素(风和光照)进行分级,设置10组对比试验,结果表明:在低光照或正常光照条件下,平均果实定位准确率为82.5%,末端执行器夹取成功率为87.5%,平均采摘时间最短为12.3 s/个;高光照条件下平均果实定位准确率为72%,末端执行器夹取成功率为80%,平均采摘时间最短为12.5 s/个。In the future development of orchard industry,intelligent orchard is an important development trend.In order to realize the intelligent orchard,intelligent fruit picking is one of the key bottlenecks.In order to achieve the goal of intelligent fruit picking,a citrus picking robot system suitable for hilly dwarf cultivation of fruit trees was built.Aiming at the uneven ground between ridges in hilly orchards and the terrain inclination angle of 0°~20°,an adaptive leveling platform was designed to keep the base level of the manipulator.The visual system used the depth camera to obtain the point cloud image to establish the three-dimensional model of the fruit tree,and realize the acquisition of the position information of the fruit to be picked.In order to avoid damage to the fruit during the picking process,an integrated end-effector for shearing and clamping was designed,which protected the fruit from damage while picking the fruit by shearing and clamping.The main interference factors in the orchard in the natural environment were light and wind.The light and wind were graded,and 10 foot control experiments were set up.The results showed that under low light or normal light conditions,the average fruit positioning accuracy was 82.5%,the end-effector clamping success rate was 87.5%,and the average fruit picking time was 12.3 s/piece.The average fruit positioning accuracy under high light conditions was 72%,the success rate of end-effector clamping was 80%,and the average time of fruit picking was 12.5 s/piece.The research result can provide a reference for the study of fruit picking in hilly terrain.

关 键 词：柑橘 采摘机器人 三维点云模型 自适应平台 末端执行器 

分 类 号：S225.93[农业科学—农业机械化工程]