基于嵌入式系统的采摘机器人作业控制研究  

Research on Operation Control of Picking Robot Based on Embedded System

作　　者：范江波 Fan Jiangbo(College of Applied Engineering,Henan University of Science and Technology,Sanmenxia 472000,China;College of Intelligent Manufacturing,Sanmenxia Polytechnic,Sanmenxia 472000,China)

机构地区：[1]河南科技大学应用工程学院,河南三门峡472000 [2]三门峡职业技术学院智能制造学院,河南三门峡472000

出　　处：《农机化研究》2025年第6期53-57,77,共6页Journal of Agricultural Mechanization Research

基　　金：河南省高等学校重点科研项目(22B413007);三门峡市科技发展计划项目(2021002005,2021002003);三门峡职业技术学院自然科学科研项目(SZY-2022-005)。

摘　　要：采摘作业是农副产品生产的重要环节,直接影响农副产品的效益。为此,针对传统采摘作业存在的采摘手段落后、精度差和效率低等问题,以草莓采摘机器人为研究对象,在深入研究其结构组成和工作原理的基础上,引入嵌入式系统,完成了采摘机械手的运动学分析。通过采摘机器人控制系统的硬件总体设计,完成了控制系统硬件模块选型,并进行了作业控制的仿真分析。采摘试验结果表明:基于嵌入式系统的采摘机器人能够精确控制采摘作业,采摘精度和目标识别率都达到了设计目标,且系统运行较为安全和稳定。Picking operation is an important link in the production of agricultural and sideline products,which directly affects the production efficiency of agricultural and sideline products.Aiming at the problems of backward picking methods,poor precision and low efficiency in traditional picking operations,this paper takes strawberry picking robot as the research object,and on the basis of in-depth study of its structure and working principle,introduces an embedded system to complete the kinematics analysis of the picking manipulator.Through the overall hardware design of the picking robot control system,the hardware module selection of the control system is completed,and the simulation analysis of job control is carried out,Finally,conduct a picking experiment.The results show that the harvesting robot based on embedded systems can accurately control the harvesting operation,achieve the design goals in terms of harvesting accuracy and target recognition rate,and the system runs relatively safely and stably,which has great promotion value for application to other harvesting fields.

关 键 词：采摘机器人 作业控制 目标识别 运动学分析 嵌入式系统 

分 类 号：S225[农业科学—农业机械化工程]