CAJ | 학술논문

为了降低樱桃采摘机器人采摘过程中的樱桃破碎率,提高机器人的工作效率,设计了一款新的基于模糊控制和高速并联自动化控制的机器人. 该机器可以利用PC上位机对樱桃图像进行采集,并可以对图像进行二值化、膨胀腐蚀处理,从而成功地识别成熟樱桃;同时,可以使用模糊PLC控制方法对采摘机器人的响应角度误差进行控制. 为了验证机器人的性能,使用樱桃采摘试验的方法对樱桃采摘机器人的性能进行了测试. 结果表明:高速并联自动化控制的樱桃采摘机器人总体采摘时间有了明显的缩短,工作效率有所提高;通过模糊控制可以使采摘机器人角度的响应平稳地达到指定角度,且没有出现大的超调量,有利于樱桃的采摘,降低了破碎率.
위료강저앵도채적궤기인채적과정중적앵도파쇄솔,제고궤기인적공작효솔,설계료일관신적기우모호공제화고속병련자동화공제적궤기인. 해궤기가이이용PC상위궤대앵도도상진행채집,병가이대도상진행이치화、팽창부식처리,종이성공지식별성숙앵도;동시,가이사용모호PLC공제방법대채적궤기인적향응각도오차진행공제. 위료험증궤기인적성능,사용앵도채적시험적방법대앵도채적궤기인적성능진행료측시. 결과표명:고속병련자동화공제적앵도채적궤기인총체채적시간유료명현적축단,공작효솔유소제고;통과모호공제가이사채적궤기인각도적향응평은지체도지정각도,차몰유출현대적초조량,유리우앵도적채적,강저료파쇄솔.
In order to decrease the broken rate of picking robot in the process of picking cherry , and enhances the work-ing efficiency of the robot , a new robot based on fuzzy control and high speed parallel automation control has been de-signed .The machine can use PC for cherry image acquisition , and can be conducted for image binarization , expansion corrosion process , thus successful identification of ripe cherry , you can use the fuzzy PLC control method , response to control the Angle error of picking robot .In order to verify the performance of the robot , the use of cherry picking experi-mental method for cherry picking robot performance was tested .Through test , found that high speed parallel automatic control overall pick cherry time was shortened obviously , improve the work efficiency of the robot , through fuzzy control can make the point of view of picking robot response smoothly to achieve the specified Angle , and there are no big over-shoot , which is good for cherry picking , reduce the breakage rate .