现代农业装备

番茄是设施农业种植面积最大的品种之一,随着农业生产劳动力日益紧缺,实现设施农业中番茄的自动化采摘迫在眉睫。通过分析温室种植串收小番茄的物理力学特性以及种植环境,针对串收番茄设计了串收番茄采摘机器人,由行走机构、识别系统、机械臂、末端执行器以及控制系统等部分组成。其中行走机构可在地面和轨道上运行,并能实现原地转向,可适应在温室种植环境中工作;结合yolo v3和传统图像处理方法对番茄果梗采摘点进行识别,并基于深度相机获取了果梗采摘点的空间坐标;设计了夹剪一体的番茄专用末端执行器,实现对果梗的剪切与夹持;基于ROS系统搭建了番茄采摘机器人的控制系统。试制的串收番茄采摘机器人样机在现场采摘试验中,采摘成功率为93%,采摘效果良好。

Tomato is one of the varieties with the largest planted area in facility agriculture. With the increasing shortage of labor in agricultural production, the cost of manual tomato harvesting continues to increase,accounting for about 33% to 50%. It is imminent to realize automated tomato harvesting in facility agriculture.By analyzing the physical and mechanical characteristics and planting environment of growing small tomatoes in the greenhouse, a robot for harvesting tomatoes is designed for the tomatoes, which is composed of walking mechanism, identification system, mechanical arm, end effector and control system. Among them, the walking mechanism can run on the ground and on the track, and can realize in-situ turning, which can be adapted to work in a greenhouse planting environment; combined with yolo v3 and traditional image processing methods to identify the picking points of tomato stalks, and obtain the fruit based on the depth camera. The spatial coordinates of the picking point of the stalk; a special end effector for the tomato with a clipping and shearing unit is designed to realize the cutting and clamping of the stalk; the control system of the tomato picking robot is built based on the ROS system. In the field picking test of the trial-produced serial harvesting tomato picking robot prototype, the picking success rate was 93%, and the picking effect was good.