摘要
为了降低黄瓜人工收获费用 ,荷兰农业环境工程研究所已经成功开发出了移动式黄瓜收获机器人样机。重点研究了机器人视觉识别系统软件和机械手运动控制程序。移动式黄瓜收获机器人由 4部分组成 :行走车、机械手、视觉系统和末梢执行器。试验表明该机器人的行走车能够快速到达初步作业位置 ,视觉系统能够探测到黄瓜果实的精确位置及成熟度 。
A prototype of a mobile harvesting robot has been designed and built for picking cucumbers in greenhouse in the Institute of Agricultural and Environmental Engineering in order to reduce labor fee for cucumber harvesting. The key technology of robot is software of image processing and its movement manipulating. Mobile robot of cucumber harvesting includes four parts: a vehicle, a manipulator, a vision system and an end effector. The experiments show that the vehicle can move to the coarse position of working fast, the vision system can detect the precise position of mature fruit, and the end effector can grasp the fruit and pick it up from the stem.
出处
《农业工程学报》
EI
CAS
CSCD
北大核心
2001年第6期77-80,共4页
Transactions of the Chinese Society of Agricultural Engineering
