草莓采摘机器人控制系统设计与实现  

Design and Implementation of Strawberry Picking Robot Control System

作　　者：李成健 卫勇 乔佳 任子昂 李名博 Li Chengjian;Wei Yong;Qiao Jia;Ren Ziang;Li Mingbo

机构地区：[1]天津农学院工程技术学院 [2]天津中德应用技术大学智能制造学院

出　　处：《变频器世界》2023年第3期97-103,共7页The World of Inverters

基　　金：2020年天津市科技计划项目(20YDTPJC00940)。

摘　　要：本文针对田垄式草莓种植模式,设计并实现了具有四轮独立驱动四轮独立转向行走底盘、成熟草莓精准识别和定位、采摘机械手高效采摘功能的草莓采摘机器人控制系统。提高了传统草莓采摘机器人行走系统的灵活性以及草莓采摘成功率,降低了采摘机械臂的成本和控制复杂度。本文首先进行了总体结构和控制方案的设计,然后进行了控制系统软硬件方面的设计,最后进行样机相关制作与调试。实验表明,该控制系统符合预期目标,对田垄式草莓的采摘成功率达90%以上,可投入生产实际。In this paper,a strawberry picking robot control system with four wheel in dependent drive and four wheel independent steering walking chassis,accurate recognition and positioning of ripe strawberries,and efficient picking by picking manipulator was designed and implemented for the ridge strawberry planting mode.The flexibility of the traditional strawberry picking robot walking system and the success rate of strawberry picking are improved,and the cost and control complexity of the picking robot arm are reduced.This paper firstly designs the overall structure and control scheme,then designs the hardware and software of the control system,and finally makes and debuts the prototype.The experimental results show that the control system is in line with the expected target,and the success rate of picking ridge strawberry is more than 90%,which can be put into practice.

关 键 词：草莓采摘机器人 四轮独立驱动四轮独立转向 0penMV PID算法 

分 类 号：TK323[动力工程及工程热物理—热能工程]