论文标题
苹果收获机器人的系统设计和控制
System Design and Control of an Apple Harvesting Robot
论文作者
论文摘要
由于劳动力的可用性和成本上升，机器人苹果收获的需求日益增长。为了开发一个可行的机器人系统，用于苹果收获，本文介绍了机器人苹果收获原型的协同机电设计和运动控制，这为未来进步奠定了关键的基础。具体来说，我们使用RGB-D摄像头开发了基于深度学习的水果检测和定位系统。然后，设计了三个自由度的操纵器，并采用混合气动/运动驱动机制设计，以实现快速和灵活的运动。基于真空的最终效应用于苹果脱离。这三个组件以简单性，紧凑性和鲁棒性集成到机器人的Apple收获原型中。此外，开发了基于非线性速度的控制方案，以实现准确和敏捷的运动控制。进行测试实验以证明已发达的Apple收获机器人的性能。
There is a growing need for robotic apple harvesting due to decreasing availability and rising cost in labor. Towards the goal of developing a viable robotic system for apple harvesting, this paper presents synergistic mechatronic design and motion control of a robotic apple harvesting prototype, which lays a critical foundation for future advancements. Specifically, we develop a deep learning-based fruit detection and localization system using an RGB-D camera. A three degree-of-freedom manipulator is then designed with a hybrid pneumatic/motor actuation mechanism to achieve fast and dexterous movements. A vacuum-based end-effector is used for apple detaching. These three components are integrated into a robotic apple harvesting prototype with simplicity, compactness, and robustness. Moreover, a nonlinear velocity-based control scheme is developed for the manipulator to achieve accurate and agile motion control. Test experiments are conducted to demonstrate the performance of the developed apple harvesting robot.
