果园管理机器人平台的自动导航系统研究
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摘要
为了提高果园精细作业的自动化程度、降低作业成本、推动机器人产品的应用,本研究开发了一种果园用履带式移动机器人,作为进行果园喷药和果实采摘等果园精细化作业的移动平台,所设计的果园机器人由机器人本体和机器人导航机构两部分组成。本研究采用基于曲柄滑块机构的导航方式,用直径4cm的胶皮管按预定轨迹铺设轨道,机器人工作时导向轮与轨道啮合,机器人本体、轨道及机器人导向机构共同构成曲柄滑块机构。主要取得的结论归纳如下:
(1)提出一种基于曲柄滑块机构的机器人自动导航方式,建立了机器人运动学模型,计算分析了机器人导航系统各构件的运动特性。对机器人的行驶总阻力进行计算分析,确定机器人需要的驱动功率。
(2)搭建了果园机器人移动平台,在机器人移动平台安装姿态角传感器、位置角传感器、电机驱动控制系统、单片机控制系统等。开发了基于VC++6.0和Keil uVision2软件的跟踪控制器。对位置角传感器和姿态角传感器进行标定,分析传感器标定结果,在控制器中对传感器采集信号进行处理,以提高传感器所采集信号的精度。
(3)设计了基于单片机的控制系统硬件电路,包括电源电路部分和微控制器电路部分。详细介绍了各个部分的设计思想、电路原理图。
(4)对机器人行驶性能进行一系列测试,标定了机器人直线行驶速度,分析了机器人在水泥地面直线匀速行驶时产生前滑移现象的原因。
(5)在分析果园管理机器人行驶路径特点的基础上,对机器人行驶路径进行规划,设计了模糊PID控制器,进行了机器人直线跟踪和曲线跟踪试验。试验结果表明,机器人以0.15m/s的速度直线行走时,最大跟踪误差小于0.02m;机器人转弯半径为2m时,最大跟踪误差小于0.05m。所设计的模糊PID控制器能够满足机器人作业路径跟踪控制的要求。
For raising automation level of orchard precision management, decreasing the management cost, and promoting the application of robot products, an orchard tracked mobile robot is designed in this paper. The orchard robot is composed of robot body and robot guiding mechanism. A method based on the principle of slider-crank mechanism is used in this paper. A rubber pipeline whose diameter is 4 centimeters is laid down in the orchard as the path of the robot, robot body, rubber pipeline and robot guiding mechanism will constitute a slider-crank mechanism after the robot guiding wheel contacts with the rubber pipeline. In the slider-crank mechanism, the robot body is the crank, the shaft is the linkage and the guide wheel is the slide. This robot will be used in orchard management, such as variable spraying and fruit picking. The main result of this paper is as the following:
(1) A method based on the principle of slider-crank mechanism is presented in this paper, and kinematics model of the robot is built, analyses the dynamical characteristics of the robots and presents the dynamical differential equations of the system. The driving drag and driving power are calculated for the robot.
(2) Putting up the robot mobile platform, including the installation of attitude angle sensor, position angle sensor, DC servo driven system and MCU control system. The software controller is realized with VC++ 6.0 and Keil uVision2.
(3) The detailed hardware circuit of control system based on AT89S52 is designed, including power circuit part and the microcontroller circuit part.
(4) A series of experimental and analytical research on the riding performance of the robot are conducted. The robot velocity calibrated, the reasons of the robot slip forward during the straight driving is analyzed.
(5)Based on the analysis of the path characteristics, the article performs the path planning and designs the Fuzzy-PID controller of the robot. Lines and curve tracking were carried out, the experiments showed that the maximum tracking error was less than 0.02 when the robot moved straight at the speed of 0.15m/s, and the maximum tracking error was less than 0.05m when the turning radius was 2m.
(1)提出一种基于曲柄滑块机构的机器人自动导航方式,建立了机器人运动学模型,计算分析了机器人导航系统各构件的运动特性。对机器人的行驶总阻力进行计算分析,确定机器人需要的驱动功率。
(2)搭建了果园机器人移动平台,在机器人移动平台安装姿态角传感器、位置角传感器、电机驱动控制系统、单片机控制系统等。开发了基于VC++6.0和Keil uVision2软件的跟踪控制器。对位置角传感器和姿态角传感器进行标定,分析传感器标定结果,在控制器中对传感器采集信号进行处理,以提高传感器所采集信号的精度。
(3)设计了基于单片机的控制系统硬件电路,包括电源电路部分和微控制器电路部分。详细介绍了各个部分的设计思想、电路原理图。
(4)对机器人行驶性能进行一系列测试,标定了机器人直线行驶速度,分析了机器人在水泥地面直线匀速行驶时产生前滑移现象的原因。
(5)在分析果园管理机器人行驶路径特点的基础上,对机器人行驶路径进行规划,设计了模糊PID控制器,进行了机器人直线跟踪和曲线跟踪试验。试验结果表明,机器人以0.15m/s的速度直线行走时,最大跟踪误差小于0.02m;机器人转弯半径为2m时,最大跟踪误差小于0.05m。所设计的模糊PID控制器能够满足机器人作业路径跟踪控制的要求。
For raising automation level of orchard precision management, decreasing the management cost, and promoting the application of robot products, an orchard tracked mobile robot is designed in this paper. The orchard robot is composed of robot body and robot guiding mechanism. A method based on the principle of slider-crank mechanism is used in this paper. A rubber pipeline whose diameter is 4 centimeters is laid down in the orchard as the path of the robot, robot body, rubber pipeline and robot guiding mechanism will constitute a slider-crank mechanism after the robot guiding wheel contacts with the rubber pipeline. In the slider-crank mechanism, the robot body is the crank, the shaft is the linkage and the guide wheel is the slide. This robot will be used in orchard management, such as variable spraying and fruit picking. The main result of this paper is as the following:
(1) A method based on the principle of slider-crank mechanism is presented in this paper, and kinematics model of the robot is built, analyses the dynamical characteristics of the robots and presents the dynamical differential equations of the system. The driving drag and driving power are calculated for the robot.
(2) Putting up the robot mobile platform, including the installation of attitude angle sensor, position angle sensor, DC servo driven system and MCU control system. The software controller is realized with VC++ 6.0 and Keil uVision2.
(3) The detailed hardware circuit of control system based on AT89S52 is designed, including power circuit part and the microcontroller circuit part.
(4) A series of experimental and analytical research on the riding performance of the robot are conducted. The robot velocity calibrated, the reasons of the robot slip forward during the straight driving is analyzed.
(5)Based on the analysis of the path characteristics, the article performs the path planning and designs the Fuzzy-PID controller of the robot. Lines and curve tracking were carried out, the experiments showed that the maximum tracking error was less than 0.02 when the robot moved straight at the speed of 0.15m/s, and the maximum tracking error was less than 0.05m when the turning radius was 2m.
引文
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