番茄采摘机器人系统设计与试验

摘要

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%.%为了提高鲜食番茄采收的自动化水平，减轻人工采摘劳动强度，设计了一种番茄智能采摘机器人。该采摘机器人包括视觉定位单元、采摘手爪、控制系统及承载平台，并基于各部件工作原理制定了采摘机器人的工作流程。基于HIS 色彩模型进行图像分割，提高了果实识别的准确度；通过气囊夹持方式确保果实采摘过程中对果实的柔性夹持。试验结果表明：视觉定位、采摘手爪等模块运转良好，采摘单果番茄耗时约24s，成功率可达83．9％以上。