基于嵌入式系统的智能小型采摘作业机器人  

Intelligent Small Picking Robot Based on Embedded System

作　　者：李素梅[1] 孙廨尧 LI Sumei;SUN Xieyao(School of Information and Artificial Intelligence,Anhui Business College of Vocational Technology,Wuhu Anhui 241002,China)

机构地区：[1]安徽商贸职业技术学院信息与人工智能学院,安徽芜湖241002

出　　处：《佳木斯大学学报（自然科学版）》2024年第4期44-47,72,共5页Journal of Jiamusi University：Natural Science Edition

基　　金：安徽省高校自然科学研究重点项目(2022AH052740)。

摘　　要：目前采摘作业机器人存在机器人转弯性能较差、自动寻迹能力较弱以及自动避障能力欠佳的缺陷。针对这一问题,提出一种通过结合嵌入式系统的双差速驱动机器人。首先建立对应的闭环控制模型,嵌入式系统能够进行更为便捷的图像数据信息的采集,而后建立相应的运行模型,并通过超声波传感器进行避障处理。通过嵌入式系统的信息反馈以及机器人的双差速驱动控制,以达到避开障碍物进行自动寻迹和移动的目的。经过实际案例测试,该方案能够在保证路径寻迹足够高精度的同时,更加快捷的避开障碍物,并缩短整体路径行进的实际,具备更好的可靠性和高效性。At present,the picking operation robot still has the defects of poor robot turning performance,weak automatic tracing ability and poor automatic obstacle avoidance ability.To solve this problem,a dual-differential drive robot combined with embedded systems is proposed.First,the corresponding closed-loop control model is established,and the embedded system can collect image data information more conveniently,and then establish the corresponding operation model,and perform obstacle avoidance processing through ultrasonic sensors.Through the information feedback of the embedded system and the dual differential drive control of the robot,the purpose of automatic tracing and movement can be achieved by avoiding obstacles.After practical case tests,the scheme can ensure that the path tracing is sufficiently accurate,while avoiding obstacles more quickly,and shorten the actual travel of the overall path,with better reliability and efficiency.

关 键 词：嵌入式系统 路径规划 双差速驱动 采摘机器人 自动寻迹 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]