番茄采摘机器人真空吸持系统分析与优化控制研究
摘要
番茄的成穗生长等特性使其成为机器人采收难度最大的果蔬种类之一。机器人真空吸持系统是在采摘机器人对成穗生长的番茄果实作业时避免相邻果实干涉的重要辅助装置,本文以自行开发的以微型空压机+真空发生器为核心的新型真空吸持系统为对象,以大量的试验结果为基础,对该真空吸持系统的运行规律进行了系统的分析与模型描述,并进而完成了控制参数及模式的优化,从而为实现高成功率、高效、节能的真空吸持拉动,提高番茄采摘机器人的作业成功率提供了技术基础。
本文的研究工作及取得的成果主要包括：
(1)进行了番茄果实和果梗(柄)的形态结构特性、番茄果实的挤压与果皮摩擦特性、以及果梗(柄)的弯折、拉、扭特性的试验研究,为采摘机器人末端执行器的设计开发和真空吸持拉动的控制参数及模式优化提供了基础参数；对番茄采摘机器人末端执行器进行了总体方案优选,对夹持器、真空吸持系统和果柄激光切断装置进行了型设计与结构设计,开发完成了番茄采摘机器人末端执行器,并与六自由度机械手和双目视觉系统配置形成了番茄采摘机器人实验系统。
(2)充分考虑真空吸持系统吸持拉动过程中齿条-吸盘-果实(果梗)-植株间的相互力学作用,在拉脱力-吸盘直径试验、拉脱力-真空度关系试验和吸盘压缩试验基础上,建立了真空吸持拉动作业过程的吸持拉力多因素模型,从而有效反映了吸持拉力与拉动距离、真空度、果实大小、果实重量、果梗(柄)长度、果梗(柄)弯曲弹性刚度、初始姿态等多个因素的复杂关系,为以高成功率为目标的吸持拉动优化控制提供了理论依据。
(3)根据真空发生器供气压力-真空负压试验、真空压力传感器标定试验、空压机-储气罐充气性能试验、真空发生器吸气／吹气／放气三种状态的耗气性能试验结果,以储气压力变化为指标,通过基础模型→基本模型→递推模型→压力-时间模型的推理顺序,建立了实际作业过程的连续充气-间歇耗气模型,精确描述了真空吸持拉动作业中的储气压力变化规律,并有效反映出各个充／耗气参数对储气压力变化的影响,从而为硬件配置和控制参数与模式的优化提供了理论基础。
(4)完成了单向阀的真空维持能力试验、供气／吸气的真空吸着响应时间试验、敝口／闭口的真空吸着响应时间试验、不同供气时间的真空吸着响应试验和真空解除响应时间试验,根据试验结果建立了真空吸着响应模型,依据该模型对管路长度、真空发生器抽吸能力与真空吸持系统作业性能的关系进行了分析,并进而对管路长度进行了优化。
(5)利用概率论方法和正态分布函数,建立了综合吸持拉动成功率和夹持干涉率的实际夹持成功率理论评价模型,并以其和作业效率、能耗水平为判断指标,以真空吸持系统的力-运动、储气压力变化和真空动作响应规律为基础,通过理论推导和实验验证,对吸持拉动的运动参数和真空开／闭参数进行了优化,优化确定了“先接触,后供气”的吸盘吸持与齿条运动协调模式、“先夹持,后自动释放”的吸盘释放与手指夹持协调模式和“自动充停”的真空吸持系统节能控制模式。
论文建立了农业装备及其控制的完整优化流程,针对农业对象的高度差异性特征,创新性地以概率方法为手段构建了作业成功率的综合评估指标,以果实物理与力学特性、硬件参数、力-运动规律、充耗气规律和真空响应规律为共同基础完成了控制参数与模式的优化,实现了高成功率、高效、节能的真空吸持及夹持作业,解决了番茄机器人采摘中的关键难题,具有重要的学术价值与实际意义。
Tomato robotic harvesting is most difficult due to its feature of several fruits touching each other in one cluster. Vacuum suction system is a vital device for tomato harvesting robot to avoid interference with other fruits in gripping object fruit on same cluster. In this dissertation, systematical analysis and modeling of the running process of a certain vacuum suction system, which has been developed and takes one mini air pump and one vacuum ejector as vacuum generation, is performed. And then control parameters and modes optimization of this newly developed system is finished based on extensive test results, which will be tribute to achieve high success-ratio, high-efficient and energy-saving sucking/pulling to tomato fruits and improve success ratio of robotic harvesting.
This dissertation mainly includes the following contents and results:
(1) Test study on physical properties of tomato fruits and stems, compression and friction properties of tomato fruits and mechanical properties of tomato stems include pulling, bending and twisting was performed, which provides basic data to device design and control optimization. Then principle design to the end-effector for tomato harvesting robot, type and structure design to the gripper, vacuum suction system and stem laser-cutting device were finished. The end-effector is installed together with a manipulator and a binocular visual system to construct the experimental system of tomato harvesting robot.
(2) Considering mechanical relation among the rack, the suction pad, fruit (stem) and plant, a multi-factor pulling force model is constructed based on test results of relation between pull-off force and diameter of the suction pad, relation between pull-off force and vacuum degree and compression property of the suction pad, which discovers the complicated relationship among pulling force and pulling distance, vacuum degree, fruit size, fruit weight, stem length, elastic flexure-resisting stiffness of stem and initial posture and provides theoretical basis to optimal control of sucking and pulling operation.
(3) Based on tests results of relation between air supply pressure and vacuum degree, calibration test of vacuum pressure sensor, inflation property of air pump to air tank, air consumption during sucking, blowing and deflating, a continuous inflation-intermittent consumption complex model is built through basic models-primary models-recursion models-pressure-time models gradually which takes air pressure in the air tank as aim index. It describes law of air pressure change in the air tank accurately during sucking and pulling operation and reflects effects on air pressure change in the air tank by different parameters of air inflation and consumption, which provides theoretical basis to hardware configuration and optimization of control of control parameters and modes.
(4) Tests of pressure maintenance ability of the check valve, tests of suction response time under air supply control Vs suction control, in exposure Vs closure conditions, in different long time and release response time test have been finished. According to these test results, vacuum suction response model is built, based on which relations among tube length, suction capability and operating performance of the vacuum suction system are analysed and tube length is optimized.
(5) One model of actual success ratio in gripping combining success ratio of sucking and pulling with ratio of interference in gripping is built applying probability theory and normal distribution function. Taking this success ratio, working efficiency and energy consumption level as evaluating indicators and laws of force-motion, air pressure change in the air tank and vacuum action response as base, motion parameters and vacuum action parameters in sucking and pulling operation are optimized, and "fruit touch-air supply" control mode to coordinate action of the vacuum system with motion of the rack, "grip-passively release" control mode to coordinate releasing of the suction pad and gripping of the fingers, "inflate-passively stop" control mode to save energy of the vacuum suction system are decided by theoretical and testing optimizing at last.
In this dissertation, a systemic optimization process of agricultural equipment is constructed. In view of large difference of features of agricultural objects, a composite indicator to evaluate success ratio of sucking/pulling/gripping operation is constructed innovatively with probability method. Based on all of physical and mechanical properties, parameters of the device, force-motion law, air inflation-consumption law, vacuum response law, optimization to control parameters and modes is finished to achieve high success ratio, high working efficiency and energy-saving sucking/pulling/gripping operation. This study has important theoretical and practical value.
本文的研究工作及取得的成果主要包括：
(1)进行了番茄果实和果梗(柄)的形态结构特性、番茄果实的挤压与果皮摩擦特性、以及果梗(柄)的弯折、拉、扭特性的试验研究,为采摘机器人末端执行器的设计开发和真空吸持拉动的控制参数及模式优化提供了基础参数；对番茄采摘机器人末端执行器进行了总体方案优选,对夹持器、真空吸持系统和果柄激光切断装置进行了型设计与结构设计,开发完成了番茄采摘机器人末端执行器,并与六自由度机械手和双目视觉系统配置形成了番茄采摘机器人实验系统。
(2)充分考虑真空吸持系统吸持拉动过程中齿条-吸盘-果实(果梗)-植株间的相互力学作用,在拉脱力-吸盘直径试验、拉脱力-真空度关系试验和吸盘压缩试验基础上,建立了真空吸持拉动作业过程的吸持拉力多因素模型,从而有效反映了吸持拉力与拉动距离、真空度、果实大小、果实重量、果梗(柄)长度、果梗(柄)弯曲弹性刚度、初始姿态等多个因素的复杂关系,为以高成功率为目标的吸持拉动优化控制提供了理论依据。
(3)根据真空发生器供气压力-真空负压试验、真空压力传感器标定试验、空压机-储气罐充气性能试验、真空发生器吸气／吹气／放气三种状态的耗气性能试验结果,以储气压力变化为指标,通过基础模型→基本模型→递推模型→压力-时间模型的推理顺序,建立了实际作业过程的连续充气-间歇耗气模型,精确描述了真空吸持拉动作业中的储气压力变化规律,并有效反映出各个充／耗气参数对储气压力变化的影响,从而为硬件配置和控制参数与模式的优化提供了理论基础。
(4)完成了单向阀的真空维持能力试验、供气／吸气的真空吸着响应时间试验、敝口／闭口的真空吸着响应时间试验、不同供气时间的真空吸着响应试验和真空解除响应时间试验,根据试验结果建立了真空吸着响应模型,依据该模型对管路长度、真空发生器抽吸能力与真空吸持系统作业性能的关系进行了分析,并进而对管路长度进行了优化。
(5)利用概率论方法和正态分布函数,建立了综合吸持拉动成功率和夹持干涉率的实际夹持成功率理论评价模型,并以其和作业效率、能耗水平为判断指标,以真空吸持系统的力-运动、储气压力变化和真空动作响应规律为基础,通过理论推导和实验验证,对吸持拉动的运动参数和真空开／闭参数进行了优化,优化确定了“先接触,后供气”的吸盘吸持与齿条运动协调模式、“先夹持,后自动释放”的吸盘释放与手指夹持协调模式和“自动充停”的真空吸持系统节能控制模式。
论文建立了农业装备及其控制的完整优化流程,针对农业对象的高度差异性特征,创新性地以概率方法为手段构建了作业成功率的综合评估指标,以果实物理与力学特性、硬件参数、力-运动规律、充耗气规律和真空响应规律为共同基础完成了控制参数与模式的优化,实现了高成功率、高效、节能的真空吸持及夹持作业,解决了番茄机器人采摘中的关键难题,具有重要的学术价值与实际意义。
Tomato robotic harvesting is most difficult due to its feature of several fruits touching each other in one cluster. Vacuum suction system is a vital device for tomato harvesting robot to avoid interference with other fruits in gripping object fruit on same cluster. In this dissertation, systematical analysis and modeling of the running process of a certain vacuum suction system, which has been developed and takes one mini air pump and one vacuum ejector as vacuum generation, is performed. And then control parameters and modes optimization of this newly developed system is finished based on extensive test results, which will be tribute to achieve high success-ratio, high-efficient and energy-saving sucking/pulling to tomato fruits and improve success ratio of robotic harvesting.
This dissertation mainly includes the following contents and results:
(1) Test study on physical properties of tomato fruits and stems, compression and friction properties of tomato fruits and mechanical properties of tomato stems include pulling, bending and twisting was performed, which provides basic data to device design and control optimization. Then principle design to the end-effector for tomato harvesting robot, type and structure design to the gripper, vacuum suction system and stem laser-cutting device were finished. The end-effector is installed together with a manipulator and a binocular visual system to construct the experimental system of tomato harvesting robot.
(2) Considering mechanical relation among the rack, the suction pad, fruit (stem) and plant, a multi-factor pulling force model is constructed based on test results of relation between pull-off force and diameter of the suction pad, relation between pull-off force and vacuum degree and compression property of the suction pad, which discovers the complicated relationship among pulling force and pulling distance, vacuum degree, fruit size, fruit weight, stem length, elastic flexure-resisting stiffness of stem and initial posture and provides theoretical basis to optimal control of sucking and pulling operation.
(3) Based on tests results of relation between air supply pressure and vacuum degree, calibration test of vacuum pressure sensor, inflation property of air pump to air tank, air consumption during sucking, blowing and deflating, a continuous inflation-intermittent consumption complex model is built through basic models-primary models-recursion models-pressure-time models gradually which takes air pressure in the air tank as aim index. It describes law of air pressure change in the air tank accurately during sucking and pulling operation and reflects effects on air pressure change in the air tank by different parameters of air inflation and consumption, which provides theoretical basis to hardware configuration and optimization of control of control parameters and modes.
(4) Tests of pressure maintenance ability of the check valve, tests of suction response time under air supply control Vs suction control, in exposure Vs closure conditions, in different long time and release response time test have been finished. According to these test results, vacuum suction response model is built, based on which relations among tube length, suction capability and operating performance of the vacuum suction system are analysed and tube length is optimized.
(5) One model of actual success ratio in gripping combining success ratio of sucking and pulling with ratio of interference in gripping is built applying probability theory and normal distribution function. Taking this success ratio, working efficiency and energy consumption level as evaluating indicators and laws of force-motion, air pressure change in the air tank and vacuum action response as base, motion parameters and vacuum action parameters in sucking and pulling operation are optimized, and "fruit touch-air supply" control mode to coordinate action of the vacuum system with motion of the rack, "grip-passively release" control mode to coordinate releasing of the suction pad and gripping of the fingers, "inflate-passively stop" control mode to save energy of the vacuum suction system are decided by theoretical and testing optimizing at last.
In this dissertation, a systemic optimization process of agricultural equipment is constructed. In view of large difference of features of agricultural objects, a composite indicator to evaluate success ratio of sucking/pulling/gripping operation is constructed innovatively with probability method. Based on all of physical and mechanical properties, parameters of the device, force-motion law, air inflation-consumption law, vacuum response law, optimization to control parameters and modes is finished to achieve high success ratio, high working efficiency and energy-saving sucking/pulling/gripping operation. This study has important theoretical and practical value.
引文
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