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Development and Performance Analysis on Cucumber Harvesting Robot System in Greenhouse
Author(s): 
Pages: 726-730
Year: Issue:  6
Journal: Robot

Abstract: 为提高黄瓜采收智能化水平,降低人工采收劳动强度,研发了黄瓜采摘机器人系统.描述了机器人系统硬件构成,提出了三层式系统控制方案,设计了导航控制程序与采摘控制程序两核心软件,阐明了采摘机器人作业流程.黄瓜采摘机器人温室作业性能测试试验证明:系统各模块运转良好,视觉识别算法可有效提取果实信息,机器人采摘成功率达85%,单根黄瓜采摘耗时28.6 s.温室黄瓜采摘机器人具有较好的稳定性与较高的实用性.
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