水果采摘机械手关键技术研究现状与展望
Research status and prospect of key technologies of fruit picking manipula-tor
郭自良 1殷程凯 1吴玄博 1陈青 2王金鹏 2周宏平2
作者信息
- 1. 南京林业大学机械电子工程学院,江苏 南京 210037
- 2. 南京林业大学机械电子工程学院,江苏 南京 210037;南京林业大学林业资源高效加工利用协同创新中心,江苏 南京 210037
- 折叠
摘要
采摘机器人的研究对推动水果产业的发展有着重要作用.采摘机械手的运动规划与其硬件结构是采摘机器人的关键技术,影响水果采摘的效率与水果品质.本文分析了传统运动规划算法、基于生物智能的运动规划算法、基于概率采样的运动规划算法以及基于深度强化学习的运动规划算法等运动规划算法的优点和不足.同时总结了采摘机械手硬件结构的研发现状,指出目前采摘机械手存在采摘效率低、规划算法效率低、系统成本高与采摘对象单一等问题,对未来水果采摘机器人的研究进行了展望.本文为未来采摘机器人的研发提供了参考.
Abstract
Research on picking robots plays an important role in promoting the development of fruit industry.Motion planning and hardware structure of fruit picking manipulator are the key technologies of the picking robot,which affect the picking efficiency and fruit quality.This paper analyzed the advantages and shortcomings of motion planning algorithms such as traditional motion planning algorithm,motion planning algorithm based on biological intelligence,motion planning algo-rithm based on probability sampling and motion planning algorithm based on deep reinforcement learning.At the same time,the current status of research and development of the hardware structure of the picking manipulator were summarized.The problems of low picking efficiency,low planning algorithm efficiency,high system cost and single picking object were point-ed out.The future research of fruit picking robot was prospected.This paper provides a reference for future research and de-velopment of picking robot.
关键词
水果采摘机器人/机械手/运动规划/末端执行器Key words
fruit picking robot/manipulator/motion planning/end-effector引用本文复制引用
基金项目
江苏省重点研发计划项目(BE2021016)
出版年
2024
国家科技期刊平台
NSTL
万方数据