采摘机器人实时智能避障系统研究——基于嵌入式ARM  

Research on Real-time Intelligent Obstacle Avoidance System of Picking Robot——Based on Embedded ARM

作　　者：李虹飞[1] 胡满红[1] Li Hongfei;Hu Manhong(Jiyuan Vocational and Technical College, Jiyuan 459000,China)

机构地区：[1]济源职业技术学院,河南济源459000

出　　处：《农机化研究》2021年第4期107-111,共5页Journal of Agricultural Mechanization Research

基　　金：河南省高等职业院校创新发展行动计划项目(XM0117)。

摘　　要：为简化采摘机器人底层控制系统软硬件设计,提高系统的实时性和可靠性,在处理器的设计上引入了嵌入式微处理器,取代了常规的单片机和PLC方案。提出了基于ARM控制器和源代码开放的Linux操作系统组成的采摘机器人控制系统,对其实时避障功能进行了设计,并模拟采摘机器人作业环境对该方案的可行性进行了测试。结果表明:采摘机器人行使过程中可以躲避障碍物,向目标作业区域移动,成功地实现了实时避障功能,为采摘机器人自主导航系统的开发提供了重要的借鉴。In order to simplify the software and hardware design of the bottom control system of the picking robot and improve the real-time and reliability of the system,it introduced the embedded microprocessor in the design of the processor,replacing the conventional single-chip microcomputer and PLC scheme.It proposed the control system of picking robot based on ARM controller and Linux operating system with open source code.It designed The function of real-time obstacle avoidance.Finally,it tested the feasibility of the scheme by simulating the working environment of picking robot.The test results show that the picking robot can avoid obstacles and move to the target working area in the process of running.It successfully realized the real-time obstacle avoidance function,which provides an important reference for the development of autonomous navigation system of harvesting robot.

关 键 词：采摘机器人 避障系统 嵌入式ARM LINUX操作系统 微处理器 

分 类 号：S225[农业科学—农业机械化工程] TP242[农业科学—农业工程]