顾宝兴,姬长英,王海青,田光兆,张高阳,王玲.智能移动水果采摘机器人设计与试验[J].农业机械学报,2012,43(6):153-160.
Gu Baoxing,Ji Changying,Wang Haiqing,Tian Guangzhao,Zhang Gaoyang,Wang Ling.Design and Experiment of Intelligent Mobile Fruit Picking Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2012,43(6):153-160.
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智能移动水果采摘机器人设计与试验   [下载全文]
Design and Experiment of Intelligent Mobile Fruit Picking Robot   [Download Pdf][in English]
  
DOI:10.6041/j.issn.1000-1298.2012.06.028
中文关键词:  水果  采摘机器人  末端执行器  机器视觉  移动平台
基金项目:国家高技术研究发展计划(863计划)资助项目(2006AA10Z259)、中央高校基本科研业务费专项资金资助项目(KYZ201006)和南京农业大学青年科技创新基金资助项目(KJ09030)
作者单位
顾宝兴 南京农业大学 
姬长英 南京农业大学 
王海青 南京农业大学 
田光兆 南京农业大学 
张高阳 南京农业大学 
王玲 南京农业大学 
中文摘要:设计了一种智能移动水果采摘机器人,该机器人主要由智能移动平台、采摘机械臂、末端执行器、横向滑移机构和控制系统组成。用VC++语言编写了系统控制程序,开发了人机交互界面。样机在江苏省丰县果园进行了综合试验,结果表明:该机器人能够完成自主导航、自主采摘及自主装箱作业,移动平台、采摘机械臂及末端执行器能够实现智能协调控制。整个系统工作性能稳定,成熟果实的识别正确率为81.73%,采摘成功率为86.92%,单个苹果采摘平均耗时9.50 s。
Gu Baoxing  Ji Changying  Wang Haiqing  Tian Guangzhao  Zhang Gaoyang  Wang Ling
Nanjing Agricultural University;Nanjing Agricultural University;Nanjing Agricultural University;Nanjing Agricultural University;Nanjing Agricultural University;Nanjing Agricultural University
Key Words:Fruit, Picking robot, End-effector, Machine vision, Mobile platform
Abstract:A prototype for intelligent fruit picking operation was developed. It mainly consisted of intelligent mobile platform, picking arm, end-effector, transverse sliding institution and control systems. The system control program and human-machine interface were programmed with VC++. The comprehensive experiments of the prototype were carried out in the orchard of Feng county in Jiangsu province. Results revealed that this robot could achieve autonomous navigation, independent picking and autonomous binning operation. The mobile platform, picking arm and end-effector can work coordinately, so the whole system performed very well. The correct rate of ripe fruit recognition and success rate of picking reached to 81.73% and 86.92%, respectively, whereas averagely 9.50 s were required for picking a single apple.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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