基于YOLOv5模型的高架草莓采摘机器人系统设计  

Design of Elevated Strawberry Picking Robot System Based on YOLOv5 Model

作　　者：龚书娟 谢盛旺[1] 张长青 GONG Shujuan;XIE Shengwang;ZHANG Changqing(a.College of Electronics&Information Engineering,Hengshui University,Hengshui,Hebei 053000,China;Electromechanical Research Institute,Hengshui University,Hengshui,Hebei 053000,China)

机构地区：[1]衡水学院电子信息工程学院,河北衡水053000 [2]衡水学院机电研究所

出　　处：《衡水学院学报》2024年第4期13-18,共6页Journal of Hengshui University

基　　金：衡水学院高层次人才科研启动基金项目(2020GC04);衡水学院省级大学生创新创业训练计划项目(S202210101003)。

摘　　要：为解决草莓采摘设备价格昂贵且采摘效率低等问题,基于YOLOv5模型的目标检测算法,设计了一款高架草莓采摘机器人。该草莓采摘机器人采用单目摄像头和激光测距相结合的识别模式,对草莓进行识别与定位,然后使用双机械臂同时完成草莓采摘动作,再将草莓通过收集缓冲装置送入收集盒。采用双机械臂和缓冲装置的设计,在保证草莓果实完整性的同时提高了草莓的采摘效率。该机器人进行了多次采摘实验,实验结果表明:该草莓采摘机器人可实现对草莓的精准识别与定位,且对成熟草莓的识别率达到95%,满足采摘要求。In order to solve the problems of expensive strawberry picking equipment and low picking efficiency,an elevated strawberry picking robot was designed based on the object detection algorithm of YOLOv5 model.The strawberry picking robot adopts a recognition mode combining monocular camera and laser ranging to identify and locate strawberries,and then uses dual robotic arms to complete strawberry picking actions at the same time,and then sends strawberries into the collection box through a collection-buffer device.The design of dual robotic arms and buffer device improves the efficiency of strawberry picking while ensuring the integrity of strawberry fruits.The experimental results show that the strawberry picking robot can accurately identify and locate strawberries,and the recognition rate of ripe strawberries reaches 95%,which meets the picking requirements.

关 键 词：YOLOv5模型 高架草莓采摘机器人 收集缓冲装置 收集盒 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] S225[自动化与计算机技术—控制科学与工程]