摘要
本研究的目的在于开发温室番茄采摘机器人系统,文章提出的温室番茄采摘机器人系统主要由四部分组成:末端执行器、机器视觉、机器人载体和控制系统。该控制系统包含三个单元:机器人手臂执行控制单元、机器人载体控制单元和中央控制单元。开发了温室番茄采摘机器人系统的软硬件,满足了预期的功能需求。实验结果表明:集成采摘的平均成功率分别为94.83%、91.83%和89.63%。平均采摘时间约为35.96秒。另外,针对应用实际本文分别针对黄色和红色西红柿结合光源情况进行了机器人控制实验,实验结果表明机器人实际采摘效率较高,且阴雨天的采摘效率明显高于光线充足的晴天。
The purpose of this study is to develop a system for tomato-picking robots in greenhouse,which is mainly composed of four parts:end-effector,machine vision,robot carrier and control system.The control system includes three units:the robot arm execution control unit,the robot carrier control unit and the central control unit.Both software and hardware for the system were built in order to meet the expected functional requirements.The experimental results show that the success rates of integrated harvesting are 94.83%,91.83%and 89.63%,respectively.The average picking time is about 35.96 s.In addition,considering the actual application,robot control experiments were carried out to pick yellow and red tomatoes under different light conditions.The results show that the actual picking efficiency of the robot is high,and the picking rate on cloudy and rainy days is significantly higher than that on sunny days with sufficient light.
作者
杨延丽
YANG Yan-li(Chengyi University College,Jimei University,Xiamen Fujian 361021,China)
出处
《辽宁科技学院学报》
2021年第4期10-13,104,共5页
Journal of Liaoning Institute of Science and Technology
基金
集美大学诚毅学院教学改革研究项目(2020JG24)
福建省高校精品线上线下混合式课程立项课题(闽教高〔2019〕20号).
作者简介
杨延丽(1976-),女,河南驻马店人,硕士,高级工程师.研究方向:嵌入式系统研究.
