智能采摘机器人路径规划的设计与研究  

Design and Research on Path Planning of Intelligent Picking Robot

作　　者：吴妮妮[1] Wu Nini(Changjiang Polytechnic,Wuhan 430074,China)

机构地区：[1]长江职业学院,武汉430074

出　　处：《农机化研究》2024年第2期65-69,共5页Journal of Agricultural Mechanization Research

基　　金：湖北省中华职业教育社高职人工智能制造产业项目(hbjz2021150);湖北省高等学校省级教学研究项目(2020889)。

摘　　要：以四足轮式采摘机器人为研究载体,将采集的果园图像经过灰度化、阈值分割、几何校正、比例尺寸划分等处理,然后进行栅格化;在此基础上,对采摘机器人在作业时的路径进行全局规划,通过蚁群算法寻找出一条无障碍、短距离的行驶路线;同时,结合运动学模型和PID闭环等现代控制理论,将得到的路径信息转化为控制信号,输出占空比变化的PWM波,从而控制电机运转,使得采摘机器人以规定的速度跟踪已规划好的行驶路线;最后,将此理论以嵌入式方式进行软硬件开发,设计出一款路径规划-跟踪控制系统。实验结果表明,利用路径规划-跟踪控制系统的采摘机器人按规划的路径到达目标点的平均概率为94.5%,能够准确、有效地辅助采摘机器人进行采摘作业。Taking the quadruped wheeled picking robot as the research carrier,the collected orchard images are processed by graying,threshold segmentation,geometric correction,scale size division and then rasterized;On this basis,the path of the picking robot is globally planned,and an obstacle free and short-distance driving route is found by ant colony algorithm;Combined with modern control theories such as kinematics model and PID closed-loop,the obtained path information is transformed into control signal,and the PWM wave with changing duty cycle is output,so as to control the motor operation,so that the picking robot can track the planned driving route at the specified speed;Finally,the theory is developed in embedded mode,and a path planning tracking control system is designed.The experimental results show that the average probability of the picking robot using the path planning tracking control system reaching the target point according to the planned path is 94.5%,which shows that the system can accurately and effectively assist the picking robot in picking operation.

关 键 词：采摘机器人 路径规划-跟踪控制系统 蚁群算法 PID闭环控制 

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