基于滑觉检测的农业机器人果蔬柔性抓取控制研究

发布时间：2018-04-29 01:28

本文选题：果蔬采摘 + 柔性抓取　；参考：《农机化研究》2017年06期

【摘要】：果蔬采摘是水果蔬菜生产种植中最繁琐、最耗时间、最费精力的部分之一,直接影响果蔬日后的价值和销售。随着经济的快速发展、外出务工人员增多及农业劳动力减少,劳动力在果蔬种植成本所占比例越来越大。实现果蔬自动化采摘是降低成本、释放农业劳动力的重要举措。20世纪80年代,美国成功生产了世界上第1台西红柿采摘机器人。近年来,随着信息技术和自动化技术的高速发展,农业采摘机器人的研究和开发取得了很大进步,但对果蔬柔性抓取的研究进展较慢。为此,基于滑觉传感检测技术与果蔬损伤机理,以农业机器人采摘控制系统为研究平台,运用离散小波变换算法,从传感器和抓取力控制着手,深入研究和设计了农业机器人柔性无损采摘控制系统。试验表明:系统运行稳定,可靠性强,对实现果蔬柔性采摘具有十分重要的应用意义。
[Abstract]:Fruit and vegetable picking is one of the most tedious, time-consuming and energy consuming parts in the production and planting of fruits and vegetables, which directly affects the value and sales of fruits and vegetables in the future. With the rapid development of economy, the increase of migrant workers and the decrease of agricultural labor force, the proportion of labor force in the cost of planting fruits and vegetables is increasing. Automatic harvesting of fruits and vegetables is an important measure to reduce costs and release agricultural labor. In the 1980s, the United States successfully produced the first tomato harvesting robot in the world. In recent years, with the rapid development of information technology and automation technology, great progress has been made in the research and development of agricultural harvesting robot. Therefore, based on the skid sensing technology and the mechanism of fruit and vegetable damage, the agricultural robot picking control system is used as the research platform, and the discrete wavelet transform algorithm is used to control the hand from the sensor and grab force. The flexible and non-destructive harvesting control system of agricultural robot is studied and designed. The test results show that the system is stable and reliable, and it is very important to realize the flexible picking of fruits and vegetables.
【作者单位】：河南工业职业技术学院;
【基金】：河南省自然科学基金项目(2015ZCB115) 南阳市科技攻关项目(2012GG029)
【分类号】：TP242

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