农机化研究Issue(4)：94-98,5.
番茄采摘机器人系统设计与试验
Design and Test of Tomatoes Harvesting Robot
摘要
Abstract
In order to improve robotic harvesting for fresh tomato and reduce the amount of human labor , this paper de-signed a tomato intelligent picking robot .The picking robot includes:the vision positioning unit , the picking gripper , the control system and carrying platform .Based on the working principle of each component , the working process of picking robot was revised .Based on HIS color model for image segmentation , the recognition accuracy was improved .It used a method of Airbag gripping to ensure the tomato ’ s integrity .The performance test of picking robot indicated that vision po-sitioning module and the gripper module ran well .The execution time of a single harvest cycle was about 24s, and the success rate for harvesting tomatoes was 83.9%.关键词
番茄/采摘机器人/视觉定位/控制系统Key words
tomatoes/picking robot/vision positioning/control system分类
农业科技引用本文复制引用
王晓楠,伍萍辉,冯青春,王国华..番茄采摘机器人系统设计与试验[J].农机化研究,2016,(4):94-98,5.基金项目
国家高技术研究发展计划项目 （）
