丘陵果园收获机器人底盘控制系统的设计与试验  

Design and Test of Chassis Control System of Hilly Orchard Harvesting Robot

作　　者：付昌星[1] Fu Changxing(Huaihua Polytechnic College,Huaihua 418000,China)

机构地区：[1]怀化职业技术学院,湖南怀化418000

出　　处：《农机化研究》2025年第5期238-243,共6页Journal of Agricultural Mechanization Research

基　　金：湖南省教育科学研究工作者协会课题(XJKX21A061)。

摘　　要：丘陵果园收获机器人是一种能够在丘陵地形中自主收获水果的智能机器人。由于丘陵地形的复杂性和不规则性,传统的收获机械无法胜任此类工作,而丘陵果园收获机器人能够通过搭载多种传感器和自主导航系统,实现在丘陵地形中的准确定位和自主移动,并利用机械臂等工具对果树进行精确的果实采摘。为此,设计了一种丘陵果园收获机器人底盘控制系统,系统采用基于单片机的控制方案,可实现机器人的自主导航和运动控制。试验中,采用了PID控制算法对机器人进行了姿态控制和速度控制,并对机器人的运动轨迹进行了实时监测和调整。试验结果表明:控制系统具有较好的控制精度和可靠性,可以满足果园收获机器人在丘陵地形中的运动控制需求。The hilly orchard harvesting robot is an intelligent robot capable of harvesting fruits in hilly terrain autonomously.Due to the complexity and irregularity of hilly terrain,traditional harvesting machines are unable to perform such work,and the hilly orchard harvesting robot can achieve accurate positioning and autonomous movement in hilly terrain by equipping various sensors and autonomous navigation system,and use tools such as robotic arms to accurately harvest fruits from fruit trees.For this,a chassis control system for hilly orchard harvesting robot was designed.The system used a microcontroller-based control scheme to achieve autonomous navigation and motion control of the robot.In the experiment,the PID control algorithm was used in this study to control the attitude and speed of the robot,and the motion trajectory of the robot was monitored and adjusted in real time.The experimental results showed that the control system had good control accuracy and reliability,and can meet the motion control requirements of the orchard harvesting robot in hilly terrain.

关 键 词：丘陵果园 收获机器人 自主导航 运动控制 控制精度 

分 类 号：S225[农业科学—农业机械化工程]