农机化研究2025，Vol.47Issue(7)：230-234,5.DOI:10.13427/j.issn.1003-188X.2025.07.034
智能采摘机器人的目标定位与避障功能优化
Optimization of Object Location and Obstacle Avoidance Function of Intelligent Picking Robot
摘要
Abstract
In view of the traditional manual picking method,the efficiency is low,the labor cost is high,and it is easy to cause danger to the picker.However,the intelligent picking robots that have emerged recent years still had the prob-lems that the picking accuracy is not high and the obstacle avoidance couldn't be effectively promoted.In this paper,the objective positioning and obstacle avoidance functions of the intelligent picking robots were designed and optimized.It was constituted of vehicle body,main control system,picking system,sensing system and remote monitoring system.To obtain the exact location of fruits and vegetables to be picked,the target positioning process of fruits and vegetables was designed,including camera calibration,image preprocessing and target positioning.Fuzzy environment control method was used or local path planning to realize obstacle avoidance.To verify the performance of the picking robot,the obstacle avoidance test and target positioning picking test were carried out.The experimental results showed that the picking robot could avoid obstacles and carry out local path planning during the picking process,and the target positioning was accurate and the picking success rate was high.关键词
智能采摘机器人/目标定位/避障功能/模糊环境控制/局部路径规划Key words
intelligent picking robot/target positioning/obstacle avoidance function/fuzzy environment control/local path planning分类
农业科技引用本文复制引用
周乐,周世乾..智能采摘机器人的目标定位与避障功能优化[J].农机化研究,2025,47(7):230-234,5.基金项目
湖北省高等学校实验室研究项目(HBSY2022-029) （HBSY2022-029）
