温室黄瓜采摘机器人系统研制及性能分析

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纪超, 冯青春, 袁挺, 谭豫之, 李伟. 温室黄瓜采摘机器人系统研制及性能分析[J]. 机器人, 2011, 33(6): 726-730.. JI Chao, FENG Qingchun, YUAN Ting, TAN Yuzhi, LI Wei. Development and Performance Analysis on Cucumber Harvesting Robot System in Greenhouse. ROBOT, 2011, 33(6): 726-730..

摘要

为提高黄瓜采收智能化水平，降低人工采收劳动强度，研发了黄瓜采摘机器人系统．描述了机器人系统硬件构成，提出了三层式系统控制方案，设计了导航控制程序与采摘控制程序两核心软件，阐明了采摘机器人作业流程．黄瓜采摘机器人温室作业性能测试试验证明：系统各模块运转良好，视觉识别算法可有效提取果实信息，机器人采摘成功率达85%，单根黄瓜采摘耗时28.6 s．温室黄瓜采摘机器人具有较好的稳定性与较高的实用性．

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	纪超
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关键词 ：黄瓜, 采摘机器人, 硬件构成, 软件设计, 性能测试

Abstract：

In order to improve the intelligence level of cucumber harvesting and reduce the amount of human labor,a robot system for cucumber harvesting is developed.The hardware structure of robot system is described,and a three-layer system control strategy is proposed.In the system,two core programs of navigation control and harvesting control are designed. Then,the harvest procedure of robot is expounded.The performance test of cucumber harvesting robot in greenhouse indicates that every module runs well,and the visual recognition algorithm can extract the target information effectively. The success rate for harvesting cucumbers is 85%,and the execution time of a single harvest cycle is 28.6 s.The cucumber harvesting robot works with good stability and practicability in greenhouse.

Key words： cucumber harvesting robot hardware structure software design performance test

收稿日期: 2011-03-25 录用日期: 2011-06-16

TP242.6

基金资助:

国家863计划资助项目（2007AA04Z222，2009AA04Z209-1）；博士点基金新教师基金资助项目（200800191014）；国家自然科学基金资助项目（31071320）

通讯作者: 李伟 E-mail: liww@cau.edu.cn

作者简介: 纪超（1986- ），男，博士生．研究领域：农业机器人，机器视觉应用．
冯青春（1987- ），男，硕士．研究领域：农业机器人，机器视觉应用．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I6/726

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