Research On Control And Obstacle Avoidance Technologies Of Fruit Harvesting Robot

Orchard mechanized and automation harvesting operation have become the hot issue of majority fruit growers concerned.Develop the fruit harvesting robot research not only has a certain degree of practical significance to meet market demand and reduce labor intensity and improve economic efficiency,but also can track new agricultural technologies of the world.It is important to promote Chinese agricultural scientific and technological progress, accelerate the agricultural modernization process.Fruit harvesting robot is an integrated system that has multiple functions such as environmental apperceive,dynamic decision making,planning conduct control and implementation. It is a special kind of mobile robot system that the manipulator is fixed on the track type mobile platform.This paper is supported by the National "863" Project:"research on fruit harvesting robot's key technologies".A self-designed robot mechanical structure was uesd as the study object.Analysis,research and design was progressed for the fruit harvesting robot's control system.The visual servo controller was builded up.At the same time the technology of harvesting robot's obstacle avoidance was analysed.The main works is as follows:Firstly,the mechanical structure of the fruit harvesting robot was analysed and the theory of robot kinematics was introduced.Based on the self-design 5 degrees of freedom robot manipulator's mechanical properties,the fruit harvesting robot's positive and inverse kinematics equations were found using the geometric structure of the algorithm.Secondly,to improve the system's work,the system was designed to be exoteric, advanced and reliable.When the exoteric control system was designed,fruit harvesting robot's hardware such as the industrial control computer,motion controller,data acquisition card was mainly designed for the selection.On the basis of analysis the fruit harvesting robot working environment and working characteristics,the external sensors for the fruit harvesting robot were designed.Thirdly,according to the fruit harvesting robot's mechanical structure and the components of control system,The PID controller was builded up.It was used in fruit harvesting robot visual servo control to achieve the robot's real-time control.The joint-robot obstacle avoidance methods were discussed in detail.Then a preliminary study was made for the fruit harvesting robot's obstacle avoidance method.And make use of the C-space method to achieve the harvesting robot's real-time obstacle avoidance.Finally,to verify the correctness of the designed sensor,sensor experimental platform was set up.GUGAO PAN & TILT two-dimensional numerical table and apple image which was shot in orchard were used to do the tumtable control experiments.The tumtable control experiment results verifies the validity of the proposed robot's control method.