The Study On Control System Of Picking Robot

Fruit and vegetable picking job is a part of the whole fruit and vegetable production process, which is the most time and energy consuming. Its degree of automation is far behind of other sectors of agricultural production. With the rising cost of human resources and the popularity of both the large-scale and automation of agriculture, it is necessary study fruit and vegetable picking robot. This paper completes hardware and software design of robot control system against the existing six degrees of freedom picking robot mechanism and conducted relevant experiments of robot.This paper firstly introduces the study significance of picking robot and the present researching and study status in the world, and then introduces the robot’s structure and operating manner, carries out the hardware design of robot control system, which mainly indicates the selection of motor and drive and the motion control card, circuit design and Construction of control system hardware. Secondly, it finishes control parameters configuration and PID tuning of PMAC. Then it introduces the theory of binocular vision system and completes camera calibration in use of Zhang Zhengyou calibration method. It also studies the target identification which is through the image dealing method of binarization and median filtering and the eight regional connectivity area segmentation approaching and target localization which combines with calibration result. It completes the software design of the control system including the control program of both PMAC and stepper motor motion control card. It also develops the robot binocular vision system program of camera calibration, target identification, position calculation etc. and completes robot upper software program. Based on the above, picking robot motion control and visual servo systems eventually satisfies the design requirements to complete the binocular positioning experiment and manipulator motion control experiment of picking robot, which contribute to the development of next generation of picking robot and the application of robot with actual practicing value.