| 智能草莓采摘机器人设计及试验 |
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| 引用本文： | 凌轩,刘江涛,梁超越,王旭东.智能草莓采摘机器人设计及试验[J].现代农业装备,2021,42(1):46-50. |
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| 作者姓名： | 凌轩 刘江涛 梁超越 王旭东 |
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| 作者单位： | 仲恺农业工程学院机电工程学院,广东 广州 510225;仲恺农业工程学院机电工程学院,广东 广州 510225;仲恺农业工程学院机电工程学院,广东 广州 510225;仲恺农业工程学院机电工程学院,广东 广州 510225 |
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| 基金项目： | 广东省科技计划项目(2015A030401097)。 |
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| 摘 要： | 设计了一套针对地垄栽培模式下的草莓智能采摘机器人.该草莓采摘机器人可在一定范围内基于机器视觉识别成熟草莓位置和精准定位,并以夹持、扭转果柄的方式摘取果实,从而实现草莓的无损伤采摘.设计的采摘机器人由三轴精确运动同步滑台机构,三菱fx3n PLC控制系统,视觉识别系统组成,并采用面向对象编程工具C#编写了控制终端及视觉自...
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| 关 键 词： | 草莓 采摘机器人 机器视觉 三轴滑台 |
Desigh and Experiment of Intelligant Strawberry Picking Robot |
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| Ling Xuan,Liu Jiangtao,Liang Chaoyue,Wang Xudong.Desigh and Experiment of Intelligant Strawberry Picking Robot[J].Modern Agricultural Equipments,2021,42(1):46-50. |
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| Authors: | Ling Xuan Liu Jiangtao Liang Chaoyue Wang Xudong |
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| Institution: | (College of Mechanical&Electrical Engineering,Zhongkai University of Agriculture and Engineering,Guangzhou 510225,China) |
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| Abstract: | The intelligent strawberry harvesting robot was designed and an automatic picking mechanism of executive body which in connection with the strawberries planted in hill-culture was developed.Based on the machine vision system of the mechanism,mature strawberries could be distinguished and located and the ripe fruits were picked by gripping and reversing peduncles so as to obtain scatheless picking.It consisted of XYZ three-axial sliding table,PLC control system based on Mitsubishi fx3n,vision recognition system.And the control terminal and visual automatic picking algorithm was designed by C#.The robot of strawberry picking has good accuracy,high automation,strong resisting disturbance capability as well as reasonable structure.The experimental results show that the average discrimination speed is 1 s,the wrong rate of fruit is 7%and the success rate of picking can reach 90%,can satisfy the requirements of picking test for strawberry harvesting robot. |
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| Keywords: | strawberry picking robot machine vision three-axial sliding table |
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