智慧农业(中英文)SmartAgricultureVol.2,No.4 40 2016:83-90.[153]ARGUENONV,BERGUES-LAGARDEA,ROSEN‐ [151]ADAMIDESG,KATSANOSC,CONSTANTINOUI,BERGERC,etal.Multi-agentbasedprototypingofag‐ etal.Designanddevelopmentofasemi-autonomousriculturerobots[C]//InternationalSymposiumonCol‐ agriculturalvineyardsprayer:Human—robotinterac‐laborativeTechnologiesandSystems(CTS''06).Piscat‐ tionaspects[J].JournalofFieldRobotics,2017,34(8):away,NewYork,USA:IEEE,2006:292-288. 1407-1426.[154]BACCW,HEMMINGJ,TUIJLBVAN,etal.Per‐ [152]VASCONEZJP,KANTORGA,AUATCHEEINFA.formanceevaluationofaharvestingrobotforsweet Human—robotinteractioninagriculture:Asurveyandpepper[J].JournalofFieldRobotics,2017,34(6): currentchallenges[J].BiosystemsEngineering,2019,1123-1139. 179:35-48. ResearchStatusandDevelopmentDirectionofDesign andControlTechnologyofFruitandVegetablePicking RobotSystem 1223 WUJianqiao,FANShengzhe,GONGLiang,YUANJin, 42 ZHOUQiang,LIUChengliang (1.ShanghaiAgriculturalMachineryResearchInstitute,Shanghai201106,China; 2.SchoolofMechanicalEngineering,ShanghaiJiaoTongUniversity,Shanghai200240,China; 3.CollegeofMechanicalandElectronicEngineering,ShandongAgriculturalUniversity,Tai''an271018,China. 4.ShanghaiAcademyofAgriculture,Shanghai201403,China) Abstract:Vegetableandfruitharvestingisthemostdifficultproductionprocesstoachievemechanizedoperations.High-effi‐ ciencyandlow-losspickingisalsoaworldwideprobleminthefieldofagriculturalrobotresearchanddevelopment,resultingin fewproductionandapplicationequipmentcurrentlyonthemarket.Inresponsetothedemandforpickingvegetablesandfruits, toimprovethetime-consuming,labor-intensive,low-efficiency,andlow-automationproblemsofmanualpicking,scholarshave designedaseriesofautomatedpickingequipmentintherecent30years,whichhaspromotedthedevelopmentofagriculturalro‐ bottechnology.Intheresearchanddevelopmentoffreshvegetableandfruitpickingequipment,firstly,theharvestingobject andharvestingsceneshouldbedeterminedaccordingtothegrowthposition,shapeandweightofthecrop,thecomplexityof thescene,thedegreeofautomationrequired,throughcomplexityestimation,mechanicalcharacteristicsanalysis,posemodeling andothermethodsclarifythedesignrequirementsofagriculturalrobots.Secondly,asthecoreexecutoroftheentirepickingac‐ tion,thedesignoftheendeffectorofthepickingrobotisparticularlyimportant.Inthisarticle,thestructureoftheendeffector wasclassified,thedesignprocessandmethodoftheendeffectorsweresummarized,thecommonendeffectordrivingmethods andcuttingmethodswereexpounded,andthefruitcollectionmechanismwassummarized.Furthermore,theoverallcontrol schemeofthepickingrobot,recognitionandpositioningmethod,adaptivecontrolschemeofobstacleavoidancemethod,quali‐ tyclassificationmethod,human-computerinteractionandmulti-machinecooperationschemeweresummarized.Finally,inor‐ dertoevaluatetheperformanceofthepickingrobotoverall,theindicatorsofaveragepickingefficiency,long-termpickingeffi‐ ciency,harvestquality,pickingmaturityrateandmissedpickingratewereproposed.Theoveralldevelopmenttrendwaspointed thatpickingrobotswoulddeveloptowardgeneralizationofpickingtargetscenes,diversifiedstructures,fullautomation,intelli‐ gence,andclusteringwereputforwardintheend. Keywords:pickingmachinery;sceneanalysis;mechanicalgripper;automaticcontrol;evaluationindex;developmenttrend (登陆www.smartag.net.cn免费获取电子版全文) |
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