柑橘采摘机器人末端执行器设计与试验
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摘要
作为采摘机器人的重要组成部分,末端执行器是与采摘对象直接接触的最后执行部件,由于其采摘对象的特殊性,末端执行器的研制成为了农业机器人尤其是果蔬采摘机器人的关键技术之一,它的性能优异程度直接影响机器人的收获效率。基于仿生学理念,以蛇的吞咽动作和上颚结构为构型设计原型,提出末端执行器设计的机构构型,并完成末端执行器的初步模型设计。完成其控制系统设计与气压驱动系统设计,实现下位机控制器Arduino与PC上位机的通信。根据柑橘果实的生长情况与该型末端执行器作业状态分析,设计了末端执行器采摘试验,完成其采摘成功率分析与采摘执行系统优化。
As an important component of picking robot,end-effector directly interacts with picking object. Because of the particularity of its picking object,the development of end-effector was one of the key technologies for agricultureused robot,especially for fruit and vegetable harvesting robot. Its performance directly affected the robot picking efficiency. Based on the bionics principle,the configuration of end-effector transmission mechanism was designed with snake mouth as especial prototype. The preliminary model of end-effector was completed,and the design of pneumatic driving and control systems were also achieved. The communication of lower controller arduino was ensured and host computer-PC was completed. Based on the growth of citrus fruit and operation principle of end-effector,the end effector picking experiment was designed and achieved. Then,the picking success-rate analysis and picking executive system optimization were all completed.
As an important component of picking robot,end-effector directly interacts with picking object. Because of the particularity of its picking object,the development of end-effector was one of the key technologies for agricultureused robot,especially for fruit and vegetable harvesting robot. Its performance directly affected the robot picking efficiency. Based on the bionics principle,the configuration of end-effector transmission mechanism was designed with snake mouth as especial prototype. The preliminary model of end-effector was completed,and the design of pneumatic driving and control systems were also achieved. The communication of lower controller arduino was ensured and host computer-PC was completed. Based on the growth of citrus fruit and operation principle of end-effector,the end effector picking experiment was designed and achieved. Then,the picking success-rate analysis and picking executive system optimization were all completed.
引文
[1]耿学燕.重庆柑橘产业竞争力研究[D].四川雅安:四川农业大学,硕士学位论文,2013.Geng X Y.A Research on citrus idustry competitiveness in Chongqing[D].Sichuan Yaan:Sichuan Agricultural University,Master Dissertation,2013.
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[12]周小军.柑橘采摘机器人成熟果实定位及障碍物检测研究[D].江苏镇江:江苏大学,硕士学位论文,2009.Zhou X J.Study on the position and obstacle detection of citrus picking robot[D].Jiangsu Zhenjiang:Jiangsu University,Master Dissertation,2009.
[13]刘子娟.仿生蛇嘴的机构原理与设计[A].见:2011年中国智能自动化学术会议论文集(第一分册)[C].北京,2011,5.Liu Z J.Mechanical principle and design of bionic snake mouth[A].In:China Academic Conference Proceedings Intelligent Automation 2011(Volume I)[C].Beijing,2011,5.
[14]刘继展,李萍萍,李智国.西红柿采摘机器人末端执行器的硬件设计[J].农业机械学报,2008,39(3):109-112.Liu J Z,Li P P,Li Z G.Hardware design of the end-effector for tomato-harvesting robot[J].Trans.Chin.Soc.Agric.Machinery,2008,39(3):109-112.
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[2]汤修映.果蔬收获机器人系统的研究[D].北京:中国农业大学,博士学位论文,2006.Tang X Y.Fruit and vegetable harvesting robot system research[D].Beijing:China Agricultural University,Doctor Dissertation,2006.
[3]王丽丽,郭艳玲,王迪,等.果蔬采摘机器人研究综述[J].林业机械与木工设备,2009,37(1):10-11.Wang L L,Guo Y L,Wang D,et al..Overview of study on fruit and vegetable picking robot[J].Forestry Machinery Woodworking Equip.,2009,37(1):10-11.
[4]周舟,王俊.西红柿采摘机器人机械臂结构设计与参数优化[J].安徽农业科学,2012,40(22):11520-11522.Zhou Z,Wang J.Structural design and parameter optimization for tomato robot arm[J].Anhui Agric.Sci.,2012,40(22):11520-11522.
[5]吕继东.苹果采摘机器人视觉测量与避障控制研究[D].江苏镇江:江苏大学,博士学位论文,2012.Lv J D.Research on visual measurement and obstacle avoidance control of apple harvesting robot[D].Jiangsu Zhenjiang:Jiangsu University,Doctor Dissertation,2012.
[6]张水波.柑橘采摘机器人末端执行器研究[D].杭州:浙江工业大学,硕士学位论文,2011.Zhang S B.Research on end-effector of cirtrus harvesting robot[D].Hangzhou:Zhejiang University of Technology,Master Dissertation,2011.
[7]Sistler F.Robotics and intelligent machines in agriculture[J].IEEE J.Robotics Autom.,1987,3(1):3-6.
[8]卢伟,宋爱国,蔡健荣,等.柑橘采摘机器人结构设计及运动学算法[J].东南大学学报(自然科学版),2011,41(1):95-100.Lu W,Song A G,Cai J R,et al..Structural design and Kinematics Algorithm research for orange harvesting robot[J].J.Southeast Univ.(Nat.Sci.),2011,41(1):95-100.
[9]Bachche S.Deliberation on design strategies of automatic harvesting systems:A survey[J].Robotics,2015,4(2):194-222.
[10]Monta M,Kondo N,Ting K C.End-effectors for tomato harvesting robot[J].Artificial Intelligence Rev.,1998,12(1):11-25.
[11]李国利,姬长英,翟力欣.果蔬采摘机器人末端执行器研究进展与分析[J].中国农机化学报,2014,35(5):231-236.Li G L,Ji C Y,Zhai L X.Research progress and analysis of end-effector for fruits and vegetables picking robot[J].J.Chin.Agric.Mechanization,2014,35(5):231-236.
[12]周小军.柑橘采摘机器人成熟果实定位及障碍物检测研究[D].江苏镇江:江苏大学,硕士学位论文,2009.Zhou X J.Study on the position and obstacle detection of citrus picking robot[D].Jiangsu Zhenjiang:Jiangsu University,Master Dissertation,2009.
[13]刘子娟.仿生蛇嘴的机构原理与设计[A].见:2011年中国智能自动化学术会议论文集(第一分册)[C].北京,2011,5.Liu Z J.Mechanical principle and design of bionic snake mouth[A].In:China Academic Conference Proceedings Intelligent Automation 2011(Volume I)[C].Beijing,2011,5.
[14]刘继展,李萍萍,李智国.西红柿采摘机器人末端执行器的硬件设计[J].农业机械学报,2008,39(3):109-112.Liu J Z,Li P P,Li Z G.Hardware design of the end-effector for tomato-harvesting robot[J].Trans.Chin.Soc.Agric.Machinery,2008,39(3):109-112.
[15]创客智造[EB/OL].http://www.ncnynl.com/.
[16]Quigley M,Conley K,Gerkey B P,et al..ROS:An opensource robot operating system[Z].ICRA Workshop on Open Source Software,2009.
[17]ROS.org[EB/OL].http://wiki.ros.org/aubo_robot/Tutorials/Getting%20Started%20with%20a%20Aubo%20Robot.
[18]蔡健荣.柑橘采摘机器人的柔性采摘装置和方法[P].中国:CN101273688.