CAJ | 학술논문

为了提高采摘机器人自主导航和自动化定位能力,提升机器视觉的路径规划精度,基于 TI 公司的MSP430 F149 单片机,设计了一款具有监控终端和GPS导航功能的自动采摘机器人,实现了机器人路径规划实时处理、通讯、定位、报警一体化和自动化控制功能. 通过测试发现,MSP430F149 单片机具有功耗低、体积小、操作简单,便于系统管理维护等优点. 对机器人5 种路径规划的总体行驶精度路、径规划的移动时间利用率、路径规划的漏采率进行了测试,通过测试发现:5 种路径规划中套行法的各种指标测试效果最好. 同时,结合MSP430 F149 单片机和PID算法,实现了采摘机器人高效自动化采摘功能,提高了机器人的采摘精度,为采摘机器人的智能化设计提供了较有价值的参考 .
위료제고채적궤기인자주도항화자동화정위능력,제승궤기시각적로경규화정도,기우 TI 공사적MSP430 F149 단편궤,설계료일관구유감공종단화GPS도항공능적자동채적궤기인,실현료궤기인로경규화실시처리、통신、정위、보경일체화화자동화공제공능. 통과측시발현,MSP430F149 단편궤구유공모저、체적소、조작간단,편우계통관리유호등우점. 대궤기인5 충로경규화적총체행사정도로、경규화적이동시간이용솔、로경규화적루채솔진행료측시,통과측시발현:5 충로경규화중투행법적각충지표측시효과최호. 동시,결합MSP430 F149 단편궤화PID산법,실현료채적궤기인고효자동화채적공능,제고료궤기인적채적정도,위채적궤기인적지능화설계제공료교유개치적삼고 .
In order to improve the picking robot autonomous navigation and automatic positioning capability and improve the accuracy of path planning for the machine vision, based on MSP430F149 of TI company,it designs a function auto-matic picking robot with the monitoring terminal and GPS navigation, the robot path planning in real-time processing, communication, location and alarm integration and automation control function.Through the test, the MSP430 F149 micro controller has the advantages of low power consumption, small size, simple operation, and easy to maintain the system management and maintenance.5 robot path planning for the overall running accuracy and path planning of mobile time u-tilization, path planning leakage recovery rate were tested, it was found by test that five kinds of path planning method for various index to test the effect best, combined with MSP430F149 MCU and PID algorithm, to realize picking robot, auto-matic picking function, which can improve the robot's picking accuracy and provides a valuable reference for the picking robot intelligent design.