迈向室内农业机器人授粉闭环：基于自主显微检查
Towards Closing the Loop in Robotic Pollination for Indoor Farming via Autonomous Microscopic Inspection
AI总结：
针对室内农业中机器人难以自主验证授粉效果的问题，提出结合7自由度机械臂、内窥镜、2自由度显微镜和振动授粉工具的机器人系统，通过从下方振动花朵并同时从上方显微检查实现闭环，各子系统经实验验证。
摘要：
有效授粉是室内农业的关键挑战，因为蜜蜂在没有太阳的情况下难以导航。尽管已提出多种机器人系统解决方案，但自主检查花朵是否已充分授粉以产出优质果实仍然困难，这对草莓等自花授粉作物尤为关键。为此，本工作提出一种用于室内农业的新型机器人系统。所提出的硬件将7自由度机械臂与定制末端执行器相结合，末端执行器由内窥镜相机、2自由度显微镜子系统和定制振动授粉工具组成；该系统配合算法来检测和估计草莓花朵的位姿、导航至每朵花、使用工具授粉并用显微镜检查。关键创新在于从下方振动花朵，同时从上方用显微镜检查。每个子系统均通过大量实验进行验证。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
