自主农业机器人设计

自主农业机器人设计(中文4900字,英文3000字)
工业工程与管理部门，内盖夫本古里安大学
摘要；本文对自主农业机器人的发展现状进行了综述，包括制导系统、温室自治系统。设计了一种可以选择性地收获容易被碰伤的水果和蔬菜的野外作物机器人机器的一种概念。为了使机器人成为农业生产的可行选择，未来对机器人趋势必须加以关注。
一个原型机的部分设计已经实现了甜瓜收获。这台机器由一辆由拖拉机牵引的移动底盘上的笛卡尔机械手组成。两个视觉传感器被用来定位水果和引导机器人手臂朝向它。一个夹子抓住甜瓜，把它从藤上分离出来。实时控制硬件体系结构由黑板系统组成，通过PC总线进行传感、规划和控制的自主模块。大约85%的果实被成功地定位和收获。
关键词：机器人；自主；农业；智能控制。

外文文献
Design of an Autonomous Agricultural Robot
Dept. of Industrial Engineering and Management, Ben Gurion University of the Negev
Abstract. This paper presents a state-of-the-art review in the development of autonomous agricultural robots including guidance systems, greenhouse autonomous systems and fruit-harvesting robots. A general concept for a field crops robotic machine to selectively harvest easily bruised fruit and vegetables is designed. Future trends that must be pursued in order to make robots a viable option for agricultural operations are focused upon.
A prototype machine which includes part of this design has been implemented for melon harvesting. The machine consists of a Cartesian manipulator mounted on a mobile chassis pulled by a tractor. Two vision sensors are used to locate the fruit and guide the robotic arm toward it. A gripper grasps the melon and detaches it from the vine. The real-time control hardware architecture consists of a blackboard system, with autonomous modules for sensing, planning and control connected through a PC bus. Approximately 85% of the fruit are successfully located and harvested.

Keywords: Robotics；Autonomous；Agriculture； Intelligent control