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基于篮球运动的果实采摘机器人控制系统研制 预览

Development of Control System for Fruit Picking Robot Based on Basketball
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摘要 水果和蔬菜质地柔软且形状各异,机械化收获的难度较大。控制系统作为采摘机器人的核心,对作业效率有着决定性的影响。篮球运动是集体竞技项目,对运动员的目标锁定和路线规划能力要求较高,将篮球运动的决策原理引入到采摘机器人上,可以改善机器人的控制性能。为此,基于篮球运动的决策原理,研制了果实采摘机器人的控制系统,具有目标识别、路线规划和自主避障3种控制功能,可以准确地识别目标果实。在系统的控制下,采摘机器人获得了很高的作业效率,还能够自主规划行走路线和规避障碍,具有很高的智能化水平。 The texture of fruits and vegetables is soft and different in shape,and it is difficult to mechanize harvesting.China has carried out research on fruit picking robots and achieved certain results. As the core of the picking robot,the control system has a decisive influence on the efficiency of the work. Basketball is a collective sports project,which requires high requirements for athletes’ targeting and route planning. Introducing the decision-making principle of basketball to the picking robot can improve the control performance of the robot. Based on the decision-making principle of basketball,this paper develops the control system of fruit picking robot. The system has three kinds of control functions: target recognition,route planning and autonomous obstacle avoidance. After testing,the target fruit can be accurately identified. Under the control of the system,the picking robot has achieved high operational efficiency,and can also independently plan the walking route and avoid obstacles,and has a high level of intelligence.
作者 张元通 Zhang Yuantong(Zhengzhou Business School,Zhengzhou 451200,China)
机构地区 郑州商学院
出处 《农机化研究》 北大核心 2019年第12期216-219,共4页 Journal of Agricultural Mechanization Research
基金 河南省科技厅项目(2016679).
关键词 采摘机器人 目标识别 自主避障 路径规划 篮球运动 picking robot target recognition autonomous obstacle avoidance path planning basketball
作者简介 张元通(1985-),男,河南巩义人,讲师,(E-mail)huangken zhrng@163.com。
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