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当前位置: 首页 > 文章 > 大容差高效草莓采摘末端执行器设计与试验 农业机械学报 2014 (1) 252-258
Position: Home > Articles > An Efficient Strawberry Harvesting End-effector with Large Misalignment Tolerance Transactions of the Chinese Society for Agricultural Machinery 2014 (1) 252-258

大容差高效草莓采摘末端执行器设计与试验

作  者：
王粮局;张铁中;褚佳;杨丽;张洁;段运红
单  位：
北京卓众出版有限公司农机事业部;中国农业大学工学院
关键词：
草莓;采摘机器人;末端执行器;大容差
摘  要：
针对目前草莓果实视觉识别中的定位重叠和被遮挡果实的算法复杂、耗时长,末端执行器对定位精度要求高且无法采摘重叠果实和被遮挡果实等问题,设计了一次可采摘多粒果实的大容差末端执行器。该末端执行器采用从下向上拢起果实、在避开障碍后再进行夹持和切割果梗的采摘方式,主要由机械爪拢夹切断机构和垄壁仿形机构组成。将末端执行器安装在采摘机械臂上进行了果实采摘试验。试验结果表明:该末端执行器在定位误差±7 mm范围内都能完成采摘,容差范围大;无需进行重叠成熟果实的分割和目标果梗位置的计算,可一次采摘3粒重叠成熟草莓;对含1、2、3粒果实的果实域,采摘一次平均耗时分别为2.00、2.13、2.28 s,采摘成功率不低于97.7%。
译  名：
An Efficient Strawberry Harvesting End-effector with Large Misalignment Tolerance
作  者：
Wang Liangju;Zhang Tiezhong;Chu Jia;Yang Li;Zhang Jie;Duan Yunhong;College of Engineering,China Agricultural University;Department of Agricultural Machinery,Beijing Prominion Publishing Ltd.;
关键词：
Strawberry Harvesting robot End-effector Large misalignment tolerance
摘  要：
For strawberry harvesting,when strawberries are overlapping or covered by leaves,high positional accuracy of end-effector is required and the recognition and detection algorithm is very complex and time-consuming,otherwise the strawberries will be abandoned. To solve the problem mentioned above,a large misalignment tolerance end-effector,which can be used for picking up multi-strawberries at one time,was designed. The end-effector,using the harvesting method of collecting strawberries down to up and away from obstacle,clamping and cutting stems,was composed of a collecting-clamping-cutting device and profiling ridge device. The end-effector was mounted on harvesting manipulators. Experiments were conducted and results showed that the proposed end-effector had satisfactory performance when positional error in the range of ± 7 mm,and could pick up three ripe strawberries at one time without separating overlapped ripe strawberries; while fruits area containing single fruit,two fruits,or three fruits,the average time of picking one time respectively was 2. 00 s,2. 13 s,2. 28 s,and the success ratio of harvesting was no less than 97. 7%.

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