孙意凡,孙建桐,赵然,李世超,张漫,李寒.果实采摘机器人设计与导航系统性能分析[J].农业机械学报,2019,50(Supp):8-14.
SUN Yifan,SUN Jiantong,ZHAO Ran,LI Shichao,ZHANG Man,LI Han.Design and System Performance Analysis of Fruit Picking Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2019,50(Supp):8-14.
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果实采摘机器人设计与导航系统性能分析   [下载全文]
Design and System Performance Analysis of Fruit Picking Robot   [Download Pdf][in English]
投稿时间:2019-04-15  
DOI:10.6041/j.issn.1000-1298.2019.S0.002
中文关键词:  果实采摘机器人  自动导航  机械手  立体视觉
基金项目:中国农业大学基本科研业务费专项资金项目(2019TC124)和云南院士专家工作站(20170907)
作者单位
孙意凡 中国农业大学 
孙建桐 中国农业大学 
赵然 中国农业大学 
李世超 中国农业大学 
张漫 中国农业大学 
李寒 中国农业大学 
中文摘要:设计了一种果实自动采摘机器人,主要包括自动导航系统、采摘系统、运动系统、控制系统及动力系统。自动导航系统主要包括激光雷达导航和GNSS定位导航,可用于建立地图和规划工作路径;采摘系统通过双目立体视觉相机进行果实识别,再通过由六自由度机械臂和两指末端执行器(机械手)组成的执行机构抓紧果梗并剪断,完成果实采摘。试验结果表明,设计开发的机器人可以通过激光雷达导航完成室内工作,剪断并抓取果梗的两指末端执行器可适用于多种果实,上位机软件可以完成图像采集、机械臂控制和机器人工作路线图建立等操作。激光雷达导航试验结果表明,在1m/s的行驶速度下,导航绝对误差小于3.5cm,可满足温室果实采摘的需求。
SUN Yifan  SUN Jiantong  ZHAO Ran  LI Shichao  ZHANG Man  LI Han
China Agricutural University,China Agricutural University,China Agricutural University,China Agricutural University,China Agricutural University and China Agricutural University
Key Words:fruit picking robot  automatic navigation  manipulator  stereo vision
Abstract:Fruit picking is an important part of agricultural production, and automatic agricultural fruit picking robots can improve work efficiency and work accuracy. An automatic fruit picking robot was developed, which mainly included automatic navigation system, picking system, motion system, control and power system. Among them, the automatic navigation system mainly included two parts: LiDAR navigation and GNSS navigation, which can be used to establish maps and plan the working paths. The picking system carried out fruit recognition through binocular stereo vision, and then sent the results to the actuator (manipulator), which included a six degree of freedom robot arm and two finger end. The actuator then grasped the fruit stem and cut the grasping fruit stem to complete the fruit picking. The test results show that the designed and developed robot can complete indoor work through LiDAR navigation. The two finger end effector that cut and grabbed the fruit stem can successfully finish the fruit picking job. And the developed computer control software can complete image acquisition, robotic arm control, road map creation and other operations. The results of LiDAR navigation accuracy test showed that the absolute error of navigation was less than 3.5cm at 1m/s driving speed, which can meet the demand of greenhouse fruit picking.

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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