用微距相机和振动装置实现草莓花的自动授粉与检查。
Towards Closing the Loop in Robotic Pollination for Indoor Farming via Autonomous Microscopic Inspection
- 通过上下双视角（显微镜+振动）实现授粉后即时检测。
- 7自由度机械臂精准定位，完成授粉与微观检查闭环。
- 适合自花授粉作物如草莓的智能温室应用。
室内农业中有效授粉是关键挑战，因蜜蜂在无日照环境下难以导航。尽管已有多种机器人解决方案，但难以自主判断花朵是否已充分授粉以产出高质量果实，这对草莓等自花授粉作物尤为关键。本文提出一种新型室内农业机器人系统：硬件结合7自由度机械臂与定制末端执行器，包含内窥镜摄像头、2自由度显微子系统及定制振动授粉工具；配合算法实现草莓花的检测、姿态估计、导航、授粉与显微镜检查。核心创新在于从下方振动花朵的同时，从上方进行显微镜实时观察。各子系统均通过大量实验验证。
原文摘要 · Abstract (English)
Effective pollination is a key challenge for indoor farming, since bees struggle to navigate without the sun. While a variety of robotic system solutions have been proposed, it remains difficult to autonomously check that a flower has been sufficiently pollinated to produce high-quality fruit, which is especially critical for self-pollinating crops such as strawberries. To this end, this work proposes a novel robotic system for indoor farming. The proposed hardware combines a 7-degree-of-freedom (DOF) manipulator arm with a custom end-effector, comprised of an endoscope camera, a 2-DOF microscope subsystem, and a custom vibrating pollination tool; this is paired with algorithms to detect and estimate the pose of strawberry flowers, navigate to each flower, pollinate using the tool, and inspect with the microscope. The key novelty is vibrating the flower from below while simultaneously inspecting with a microscope from above. Each subsystem is validated via extensive experiments.
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