CAJ | 학술논문

果蔬采摘机器人一般采用移动式机器人,虽有着强大的计算能力和移动性,但其感知能力的局限性限制了其智能的发展. 为了提高果蔬采摘机器人的智能移动性能,使其拥有更好的实现自主导航的能力,采用( system on a programma-ble chip , SOPC )微处理器系统设计了一种新的智能移动式机器人控制系统,并采用神经网络算法对其进行了优化,大大提高了机器人移动的精确性,增强了输入和输出的线性关系,使控制系统在单片芯片上实现了复杂系统的全部功能. 通过测试发现:机器人的移动躲避障碍物时速度的稳定性较好,移动误差较低,实现了果蔬采摘无人控制下的智能移动.
과소채적궤기인일반채용이동식궤기인,수유착강대적계산능력화이동성,단기감지능력적국한성한제료기지능적발전. 위료제고과소채적궤기인적지능이동성능,사기옹유경호적실현자주도항적능력,채용( system on a programma-ble chip , SOPC )미처리기계통설계료일충신적지능이동식궤기인공제계통,병채용신경망락산법대기진행료우화,대대제고료궤기인이동적정학성,증강료수입화수출적선성관계,사공제계통재단편심편상실현료복잡계통적전부공능. 통과측시발현:궤기인적이동타피장애물시속도적은정성교호,이동오차교저,실현료과소채적무인공제하적지능이동.
Fruit and vegetable picking robots generally use the mobile robot , which has a powerful computing capacity and mobility .However ,the limitations of their sensing ability limits the development of the intelligent .In order to im-prove fruit picking robot intelligent mobile performance , it has better achieve autonomous navigation capabilities by SOPC of a new intelligent mobile robot control system , and it optimized neural network algorithm , greatly improved the accuracy of mobile robot , enhanced the linear relationship between the input and output , made control system on a single chip re-alize all the functions of the complex system .Through the test , it is found that the speed of the robot's movement is better and the moving error is lower , and the intelligent movement of the fruit and vegetable picking is realized .