Development Of Mobile Fruit Picking Robot Platform Based On Teleoperation

The design and development of mobile fruit picking robot are of great significance for reducing labor intensity and production costs,timely harvesting fruit to ensure quality and improving the production efficiency.This paper presents a mobile fruit picking robot platform,which integrates such technologies as machinery&electronics,computer network,data communication and intelligent control to realize the teleoperation fruit picking function in the robot platform.The main research contents and research results are summarized as follows:Firstly,the characteristics of the picking operation environment and the characteristics of the picking object are taken into account,and the overall structure design and basic technical parameters of the picking robot are clarified.Four-wheel all-round intelligent mobile platform,6-DOF articulated robot system and the end of the three-finger gripper,three fingers of the mechanical structure,which is simple,easy to control and thus the crawling ability and stability of robot can be improved,are designed independently.Finally,mobile platform drive motor parameters are calculated to provide the basis for the motor selection.According to the requirements of the operation of the fruit picking robot,the overall hardware of the control system is designed.The hardware structure design of the main function module of the control system is described in detail,including multi-sensor detection module,intelligent mobile platform drive system,three closed-loop arm control system and teleoperation communication module.The PWM protection circuit,the bridge motor drive circuit,the current loop circuit and the double encoder circuit design of the DSP28335 are analyzed emphatically.The kinematics analysis of the picking manipulator was carried out,and the D-H coordinate system of the manipulator was established,and the positive solution and the inverse solution of the kinematics were completed.The three-dimensional model of manipulator is established by MATLAB.The positive solution and inverse solution are verified,and the actual picking space of the robot is calculated to verify the scientific and reasonable design of the manipulator parameters.At the same time,in order to meet the high requirements of real-time,multi-threading technology is introduced into the control system;therefore,fruit picking robot control system software,which integrates the such functions as serial communication,image acquisition and motion control,is realized.The ModbusRTU protocol of 485 bus,the topology of wireless LAN and the programming of socket are analyzed,also the overall architecture of teleoperation system and its communication module are analyzed in detail.The performance of the picking robot was verified by comprehensive experimental study.The experimental results show that the mobile robotic robot based on teleoperation can realize the intelligent mobile platform navigation,the end effector crawling and picking robot movement intelligent coordination control,and can meet the operational requirements of the picking robot.