Objective:With the growing of strawberry planting scale year by year,mechanization of strawberry harvesting has become the focus of attention at home and abroad.In order to improve the picking efficiency of high-ridge strawberries,a two-arm robot was designed.Methods:The standardized planting environment of high-ridge strawberry was analyzed,and the structure,control scheme and control system of two-arm picking robot for high-ridge strawberry were designed according to its agronomic characteristics.The coordinated control between two robot arms and host computer was realized by using serial communication scheme.Results:The wheeled walking mechanism could move between high ridge strawberry rows,and the two-arm picking system could cooperate to pick the fruits on both sides of the high-ridge strawberry.The picking robot could effectively pick high-ridge strawberry fruits between rows.The average picking time of single robot arm was 10.23 s,and the average picking time of single robot arm was 5.1 s.Conclusion:The preposed picking robot for high riage strawberry effectively improved the efficiency of mechanized strawberry picking.
关键词
高垄草莓/机械化采摘/双臂协同
Key words
High ridge strawberry/Mechanized picking/Two arms synergy
维普
万方数据