智能采摘机器人的目标定位与避障功能优化  

Optimization of Object Location and Obstacle AvoidanceFunction of Intelligent Picking Robot

作　　者：周乐 周世乾 Zhou Le;Zhou Shiqian(Jianghan University,Wuhan 430056,China)

机构地区：[1]江汉大学,武汉430056

出　　处：《农机化研究》2025年第7期230-234,共5页Journal of Agricultural Mechanization Research

基　　金：湖北省高等学校实验室研究项目(HBSY2022-029)。

摘　　要：传统的人工采摘方式效率低、人工成本高、容易对采摘工人造成危险,而近年来兴起的智能采摘机器人仍然存在采摘准确率不高和避障有效率不高,导致无法大面积推广。为此,对智能采摘机器人的目标定位和避障功能进行了设计和优化,主要组成包括车体、主控系统、采摘系统、感应系统和远程监控系统。为了获取待采摘果蔬的准确位置,对果蔬的目标定位流程进行了设计,包括相机的标定、图像预处理和目标定位,并采用模糊环境控制方法进行局部路径规划,以实现避障。为了验证该采摘机器人的性能,对其进行了避障试验和目标定位采摘试验,结果表明:采摘机器人在采摘过程中可以避障并进行局部路径规划,目标定位较准确,采摘成功率较高。In view of the traditional manual picking method,the efficiency is low,the labor cost is high,and it is easy to cause danger to the picker.However,the intelligent picking robots that have emerged recent years still had the problems that the picking accuracy is not high and the obstacle avoidance couldn’t be effectively promoted.In this paper,the objective positioning and obstacle avoidance functions of the intelligent picking robots were designed and optimized.It was constituted of vehicle body,main control system,picking system,sensing system and remote monitoring system.To obtain the exact location of fruits and vegetables to be picked,the target positioning process of fruits and vegetables was designed,including camera calibration,image preprocessing and target positioning.Fuzzy environment control method was used or local path planning to realize obstacle avoidance.To verify the performance of the picking robot,the obstacle avoidance test and target positioning picking test were carried out.The experimental results showed that the picking robot could avoid obstacles and carry out local path planning during the picking process,and the target positioning was accurate and the picking success rate was high.

关 键 词：智能采摘机器人 目标定位 避障功能 模糊环境控制 局部路径规划 

分 类 号：S225[农业科学—农业机械化工程]