Authors

Abstract

For the standardized apple orchards in China, which are mainly dwarfed and densely planted, firstly, according to the spatial distribution characteristics of fruits within the tree canopy, a clamping-pull-off apple picking robot was developed by analyzing the parameters of apple cultivation and picking methods, in order to replace the manual harvesting operation. Then, the D-H method was used to establish the kinematic Equations of the apple-picking robot, the forward and inverse kinematic calculations were carried out, and the Monte Carlo method was used to analyze the workspace of the robot. Through the robot picking task planning and the simulation of the trajectory of the robotic arm, the scheme of the robot's picking strategy was given, and MATLAB software was applied to simulate the motion trajectory as well as to verify the feasibility of the trajectory planning scheme and the picking strategy. Finally, an apple-picking test bed was set up, the corresponding picking control system program was designed, and 45 apples were selected for picking tests. The results showed that during the robot's picking process, the average time for picking each fruit was 7.59 seconds, the fruit recognition success rate was 86.67%, and the picking damage rate was 5.13%.

Abstract in Chinese

针对以矮化密植为主的中国标准化苹果园，首先根据树冠内果实空间分布特征，通过苹果栽培参数及采摘方法分析，开发出一种夹持-拉断式苹果采摘机器人，以代替人工采收作业。然后，通过D-H方法建立苹果采摘机器人运动学方程，并进行了正、逆运动学计算，并采用蒙特卡罗法分析了机器人作业空间。通过对机器人采摘任务规划及机械臂轨迹仿真，进一步给出了整机采摘轨迹的方案，并应用MATLAB软件对整机运动轨迹进行仿真，验证了轨迹规划方案和采摘策略的可行性。最后，搭建了苹果采摘试验台，设计出相应的采摘控制系统程序，并选取了45个苹果进行采摘测试。结果表明，该机器人采摘每个果实的平均时间为7.59s，果实识别成功率为86.67%，采摘损伤率为5.13%。