名优茶采摘机器人的系统设计与试验

doi:10.3901/JME.2022.19.012

机械工程学报 ›› 2022, Vol. 58 ›› Issue (19): 12-23.doi: 10.3901/JME.2022.19.012

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名优茶采摘机器人的系统设计与试验

周宇杰¹, 吴强¹, 贺磊盈^1,2, 赵润茂^1,2, 贾江鸣^1,2, 陈建能^1,2, 武传宇^1,2

1. 浙江理工大学机械与自动控制学院杭州 310018;
2. 浙江省种植装备技术重点实验室杭州 310018

收稿日期:2022-06-10 修回日期:2022-08-16 出版日期:2022-10-05 发布日期:2023-01-05
通讯作者: 武传宇(通信作者)，男，1976 年出生，博士，教授。主要从事农业机器人与智能农业装备研究。E-mail：cywu@zstu.edu.cn
作者简介:周宇杰，男，1991年出生，博士研究生。主要研究方向为农业机器人。E-mail：zyj_408@163.com
基金资助:
国家自然科学基金(51975537, 52105284)、浙江省领雁计划(2022C02052)和财政部和农业农村部：国家现代农业产业技术体系资助项目。

Design and Experiment of Intelligent Picking Robot for Famous Tea

ZHOU Yujie¹, WU Qiang¹, HE Leiying^1,2, ZHAO Runmao^1,2, JIA Jiangming^1,2, CHEN Jianneng^1,2, WU Chuanyu^1,2

1. Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou 310018;
2. Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou 310018

Received:2022-06-10 Revised:2022-08-16 Online:2022-10-05 Published:2023-01-05

摘要/Abstract

摘要： 针对名优茶采摘劳动力短缺的现状，设计了一种适用于自然环境下作业的名优茶采摘机器人。系统由采摘机械手、3P-Delta机械臂、视觉系统和主控系统构成。机器人通过深度相机获取茶蓬图像，利用深度学习和骨架法计算采摘点。从名优茶的生长特征出发，建立了机械臂采摘轨迹模型，采用Bézier曲线对茶叶采摘路径进行优化，降低了机械臂在快速运动过程中的加速度突变，提高了采摘运动的平滑性。利用虚功原理建立机械臂动力学模型，基于滑模控制设计了机械臂采摘控制策略，优化了控制算法中的指数趋近律，有效地抑制了滑模面在快速趋近时的抖振现象。实地测试结果表明，采摘机器人能够实现名优茶的采摘，采摘率和完整率分别为75.53%和54.68%，平均采摘速度为0.451颗/s。

关键词: 采摘机器人, 名优茶, 3P-Delta机械臂, Bézier曲线, 滑模控制, 系统集成

Abstract: In view of the current situation of labor force shortage in famous tea picking, this paper designs a robot for famous tea picking, which is suitable for natural environment. The robot is composed of picking module, 3P-Delta manipulator, vision system and controlling system. The robot captures the image of tea canopy using RGB-D camera, and then calculates the picking points by deep learning model and the skeleton method. Based on the growth characteristics of famous tea, the picking trajectory model of the manipulator was established. The Bézier curve was used to optimize the picking path of tea, which effectively alleviated the acceleration mutation caused by the rapid motion of the manipulator and improved the smoothness of the picking movement. The dynamic model of the manipulator was established by using the principle of virtual work, and the picking control algorithm of the manipulator is designed based sliding surface variable structure control. The exponential reaching law in the control algorithm is optimized, so that the chattering phenomenon in the sliding surface control is effectively suppressed in the process of rapid reaching. The field test results show that the picking robot can realize the picking of famous tea in the natural environment, and the picking rate and integrity rate are 75.53% and 54.68%, respectively. The average picking speed of the robot is 0.451/s.

Key words: picking robot, famous tea, 3P-Delta manipulator, Bézier curve, sliding mode control, system integration

中图分类号:

周宇杰, 吴强, 贺磊盈, 赵润茂, 贾江鸣, 陈建能, 武传宇. 名优茶采摘机器人的系统设计与试验[J]. 机械工程学报, 2022, 58(19): 12-23.

ZHOU Yujie, WU Qiang, HE Leiying, ZHAO Runmao, JIA Jiangming, CHEN Jianneng, WU Chuanyu. Design and Experiment of Intelligent Picking Robot for Famous Tea[J]. Journal of Mechanical Engineering, 2022, 58(19): 12-23.

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名优茶采摘机器人的系统设计与试验

Design and Experiment of Intelligent Picking Robot for Famous Tea

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