基于咬合型末端执行器的柑橘采摘机器人采摘姿态研究
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摘要
针对采摘机器人视觉系统在复杂自然环境中无法准确提供柑橘果实生长姿态,进而导致采摘成功率下降的问题,基于柑橘采摘机器人咬合型末端执行器提出了一种最佳采摘姿态确定方法。该方法依据末端执行器构型参数,建立其采摘姿态对果实中心位置影响的性能评价函数,并使用该函数计算得到执行器最佳采摘姿态。通过搭建采摘实验平台和设计采摘实验,对计算出的最佳采摘姿态进行验证。实验结果表明,与一般的水平采摘姿态相比,采用最佳采摘姿态评价方法优化后的采摘姿态,在进行柑橘采摘时采摘成功率提高26.32%。
In order to resolve the problem that the harvesting robot vision system is not able to acurately provide the growth posture of citrus fruit under complex natural environment,thus the successful rate of harvesting is reduced,this paper proposed an optimum harvesting posture determination method based on citrus harvesting robot occlusal end-effector. This method based on end-effector configuration parameters,established the performance evaluation function of the harvesting posture to the center position of fruit,and gained the optimal harvesting posture of actuator by using calculation of this function. The calculated optimal harvesting posture was verified by constructing harvest experiment platform and designing harvest experiment. The results showed that citrus harvesting successful rate was increased by 26.32% using the harvesting posture optimized by the optimal harvesting posture evaluation method,compared with the general horizontal harvesting posture.
In order to resolve the problem that the harvesting robot vision system is not able to acurately provide the growth posture of citrus fruit under complex natural environment,thus the successful rate of harvesting is reduced,this paper proposed an optimum harvesting posture determination method based on citrus harvesting robot occlusal end-effector. This method based on end-effector configuration parameters,established the performance evaluation function of the harvesting posture to the center position of fruit,and gained the optimal harvesting posture of actuator by using calculation of this function. The calculated optimal harvesting posture was verified by constructing harvest experiment platform and designing harvest experiment. The results showed that citrus harvesting successful rate was increased by 26.32% using the harvesting posture optimized by the optimal harvesting posture evaluation method,compared with the general horizontal harvesting posture.
引文
[1]吕强.柑橘采摘机器人工作场景信息感知技术与路径规划研究[D].江苏镇江:江苏大学,博士学位论文,2010.Lv Q.Study on sensing technology of work scene and path planning for citrus picking robot[D].Jiangsu Zhenjiang:Jiangsu University,Doctor Dissertation,2010.
[2]顾宝兴.智能移动式水果采摘机器人系统的研究[D].南京:南京农业大学,博士学位论文,2012.Gu B X.Research on intelligent mobile fruit picking robot[D].Nanjing:Nanjing Agricultural University,Doctor Dissertation,2012.
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[7]李卉.广东省柑橘产业竞争力研究[D].广州:仲恺农业工程学院,硕士学位论文,2016.Li H.The research of competitiveness of citrus industrial in Guangdong province[D].Guangzhou:Zhongkai University of Agriculture and Engineering,Master Dissertation,2016.
[8]张高阳.基于位姿的苹果采摘机器人抓取研究[D].南京:南京农业大学,硕士学位论文,2011.Zhang G Y.Research on grasping of apple picking robot based on position and attitude[D].Nanjing:Nanjing Agricultural University,Master Dissertation,2011.
[9]Bac C W,Roorda T,Reshef R,et al..Analysis of a motion planning problem for sweet-pepper harvesting in a dense obstacle environment[J].Biosys.Engin.,2016,146:85-97.
[10]王毅,付舜,张哲,等.柑橘采摘机器人末端执行器设计与实验[J].中国农业科技导报,2018,20(1):69-77.Wang Y,Fu S,Zhang Z.Design and Experimentation on Endeffector of Citrus Picking Robot[J].J.Agric.Sci.Technol.,2018,20(1):69-77.
[11]杨姝.复杂机械结构拓扑优化若干问题研究[D].辽宁大连:大连理工大学,博士学位论文,2007.Yang S.Topology optimization of structure based on digital manufacture technology[D].Liaoning Dalian:Dalian University of Technology,Doctor Dissertation,2007.
[12]王燕.黄瓜采摘机器人运动规划与控制系统研究[D].杭州:浙江工业大学,硕士学位论文,2010.Wang Y.Research on motion planning and control system of the cucumber picking robot[D].Hangzhou:Zhejiang University of Technology,Master Dissertation,2010.
[2]顾宝兴.智能移动式水果采摘机器人系统的研究[D].南京:南京农业大学,博士学位论文,2012.Gu B X.Research on intelligent mobile fruit picking robot[D].Nanjing:Nanjing Agricultural University,Doctor Dissertation,2012.
[3]Sanders K F.Orange harvesting systems review[J].Biosys.Engin.,2005,90(2):115-125.
[4]Torregrosa A,OrtíE,Martín B,et al..Mechanical harvesting of oranges and mandarins in Spain[J].Biosys.Engin.,2009,104(1):18-24.
[5]Brown G K.Mechanical harvesting systems for the Florida Citrus juice industry[A].In:ASAE Paper[C].Chicago,2002.
[6]张佩.劳动力成本上涨与我国劳动密集型制造业转型发展研究[D].兰州:兰州交通大学,硕士学位论文,2016.Zhang P.Study on the rising labor costs and the restructuring and development of our labor-intensive manufacturing[D].Lanzhou:Lanzhou Jiaotong University,Master Dissertation,2016.
[7]李卉.广东省柑橘产业竞争力研究[D].广州:仲恺农业工程学院,硕士学位论文,2016.Li H.The research of competitiveness of citrus industrial in Guangdong province[D].Guangzhou:Zhongkai University of Agriculture and Engineering,Master Dissertation,2016.
[8]张高阳.基于位姿的苹果采摘机器人抓取研究[D].南京:南京农业大学,硕士学位论文,2011.Zhang G Y.Research on grasping of apple picking robot based on position and attitude[D].Nanjing:Nanjing Agricultural University,Master Dissertation,2011.
[9]Bac C W,Roorda T,Reshef R,et al..Analysis of a motion planning problem for sweet-pepper harvesting in a dense obstacle environment[J].Biosys.Engin.,2016,146:85-97.
[10]王毅,付舜,张哲,等.柑橘采摘机器人末端执行器设计与实验[J].中国农业科技导报,2018,20(1):69-77.Wang Y,Fu S,Zhang Z.Design and Experimentation on Endeffector of Citrus Picking Robot[J].J.Agric.Sci.Technol.,2018,20(1):69-77.
[11]杨姝.复杂机械结构拓扑优化若干问题研究[D].辽宁大连:大连理工大学,博士学位论文,2007.Yang S.Topology optimization of structure based on digital manufacture technology[D].Liaoning Dalian:Dalian University of Technology,Doctor Dissertation,2007.
[12]王燕.黄瓜采摘机器人运动规划与控制系统研究[D].杭州:浙江工业大学,硕士学位论文,2010.Wang Y.Research on motion planning and control system of the cucumber picking robot[D].Hangzhou:Zhejiang University of Technology,Master Dissertation,2010.