CAJ | 학술논문

为了提高果蔬采摘机器人的避障和路径规划能力,实现机器人智能化和轻量化的设计,将嵌入式系统引入到果蔬采摘机器人的控制系统中,并利用EDA 技术对控制系统进行了封装,植入了机器人路径规划的遗传算法. 对果蔬采摘机器人的机械手进行了改进,通过机械手结构设计实现了采摘机器人执行末端的避障功能,利用遗传算法智能控制设计实现了复杂环境中的路径搜索功能. 对果蔬采摘机器人的性能进行了测试,结果表明:障碍物识别率高达99%以上,路径规划的准确率也在95%以上,满足智能化采摘机器人的设计需求,为现代化采摘机器人的设计提供了较有价值的参考.
위료제고과소채적궤기인적피장화로경규화능력,실현궤기인지능화화경양화적설계,장감입식계통인입도과소채적궤기인적공제계통중,병이용EDA 기술대공제계통진행료봉장,식입료궤기인로경규화적유전산법. 대과소채적궤기인적궤계수진행료개진,통과궤계수결구설계실현료채적궤기인집행말단적피장공능,이용유전산법지능공제설계실현료복잡배경중적로경수색공능. 대과소채적궤기인적성능진행료측시,결과표명:장애물식별솔고체99%이상,로경규화적준학솔야재95%이상,만족지능화채적궤기인적설계수구,위현대화채적궤기인적설계제공료교유개치적삼고.
In order to improve the fruit picking robot obstacle avoidance and path planning capabilities , intelligent robot and lightweight design , the embedded system is introduced into the fruit and vegetable picking robot 's control system , and the control system are encapsulated using EDA technology , embedded robot path planning genetic algorithm .The fruit and vegetable picking robot manipulator was improved and the manipulator structure design to realize picking robot end effect or obstacle avoidance function and using genetic algorithm intelligent control design and implementation of the complex environment in the path search function .For fruit picking robot performance were tested and found by testing , the obstacle recognition rate is as high as more than 99%and the accuracy of path planning is above 95%, which meet the intelligent picking robot design requirements , modern picking robot design provides a reference value .