基于Ros的智产苹果机器人

Intelligent Apple Robot Based on Ros

摘要: 随着现代农业的快速发展，对于果园管理的智能化和自动化需求日益增加。特别是在苹果测产领域，传统的人工计数方法不仅耗时耗力，而且容易受到主观因素的影响，导致测产结果不准确。因此，开发一种能够自动、准确地测量苹果数量的智能机器人具有重要的现实意义。本文提出了一种基于ROS (机器人操作系统)和Arduino平台的履带式苹果测产智能机器人。该机器人利用ros_arduino_bridge实现上位机和下位机之间的有效通信，并搭载了激光雷达进行环境感知与导航，同时结合RGB相机和以YOLOv5图像识别算法为核心的目标追踪算法，实现了对单棵苹果树上苹果数量的精确统计。

Abstract: With the rapid development of modern agriculture, the demand for intelligent and automated orchard management is increasingly growing. Especially in the field of apple yield estimation, traditional manual counting methods are not only time-consuming and labor-intensive but also prone to subjective influences, leading to inaccurate yield estimation results. Therefore, developing an intelligent robot capable of automatically and accurately measuring the number of apples holds significant practical importance. This paper proposes a crawler-type intelligent apple yield estimation robot based on ROS (Robot Operating System) and the Arduino platform. The robot utilizes ros_arduino_bridge to achieve effective communication between the upper and lower computers. It is equipped with LiDAR for environmental perception and navigation, and integrates an RGB camera with a YOLOv5 image recognition algorithm as the core of its target tracking algorithm, enabling precise counting of apples on individual apple trees.