关键词: 百香果, 采摘机器人, 混联机械臂, YOLO v5s, 视觉定位

Abstract: A seriesparallel hybrid picking robot for passion fruit with drapetype planting process was developed in this paper. The overall structure was mainly composed of seriesparallel hybrid mechanical arm, end shear actuator, mobile car mechanism, deep camera, control electrical box, intelligent control terminals and mobile power supply. Aiming at the problem of locating the picking point of passion fruit in complex background, according to the connection relationship between passion fruit and fruit stalks, a recognition and location algorithm for passion fruit picking points based on YOLO v5s target detection and region search with depth information was proposed. There was a nonlinear motion coupling phenomenon in the lifting and stretching degrees of freedom of the seriesparallel hybrid picking manipulator. The inverse kinematics control model was obtained by using geometric dimension reduction and numerical iteration. The experimental results showed that the success rate of picking point location was 89.4%, the average time of inverse kinematics solution of dimension reduction iteration was 0.084 s, the success rate of picking was 93.3%, and the average time of single fruit picking was 30 s.

Key words: passion fruit, picking robot, hybrid mechanical arm, YOLO v5s, visual positioning