CAJ | 학술논문

为了降低番茄采摘过程的破碎率,提高采摘效率,实现自动化采摘过程,利用单片机和PID控制技术,设计了一种新型的仿人多指采摘机械手,并采用反馈调节控制方案设计了仿人多指机械手的控制系统. 基于AT89S52 单片机构建了单手指控制器,来对机械手手指夹紧力信号进行采集和处理,并发出夹紧指令. 为了测试机械手的有效性和可靠性,首先对番茄的质量尺寸相关性和电压产生的夹紧力进行了测试,通过参数调整后得到了番茄夹紧力随时间变化曲线和破碎率随时间变化曲线,最后对果实采摘的采摘时间和漏采率进行了8 次试验. 由测试结果可以看出:对于单颗番茄的采摘最高用时仅为2.32s,最高漏采率仅为0.42%,采摘作业效率和采摘精度均较高.
위료강저번가채적과정적파쇄솔,제고채적효솔,실현자동화채적과정,이용단편궤화PID공제기술,설계료일충신형적방인다지채적궤계수,병채용반궤조절공제방안설계료방인다지궤계수적공제계통. 기우AT89S52 단편궤구건료단수지공제기,래대궤계수수지협긴력신호진행채집화처리,병발출협긴지령. 위료측시궤계수적유효성화가고성,수선대번가적질량척촌상관성화전압산생적협긴력진행료측시,통과삼수조정후득도료번가협긴력수시간변화곡선화파쇄솔수시간변화곡선,최후대과실채적적채적시간화루채솔진행료8 차시험. 유측시결과가이간출:대우단과번가적채적최고용시부위2.32s,최고루채솔부위0.42%,채적작업효솔화채적정도균교고.
In order to reduce tomato picking broken rate, improve the picking efficiency, realize automatic picking process, by MCU and PID control technology design a new type of humanoid multi fingered picking manipulator, and the feedback control scheme, the humanoid multi-fingered manipulator control system.The single finger controller is con-structed based on the AT 89 S52 microcontroller, and the finger clamping force signal of the manipulator is collected and processed, and the clamping instruction is issued.For mechanical testing of validity and reliability, are first generated on tomato quality dimension relativity and voltage clamping force were tested through adjusting the parameters obtained the tomato clamping force with time change curve and broken rate versus time curve, at the end of the fruit picking picking time and loss rate of 8 experiments,by the test results can be seen, for single tomato picking with the highest is only 2.32 s,maximum loss rate is only 0.42%, picking operation efficiency and picking accuracy is higher.