摘要
为提高果实采摘效率,基于PLC技术设计了采摘机器人的作业路径避障系统。系统主要由信息获取系统、工控机主程序及运动执行系统等部件组成,通过PLC技术对路径规划和果实的采摘、运输进行控制,并采用改进的蚁群算法对最优路径进行规划。对采摘机器人在温室环境下进行性能测试,结果表明:采摘机器人可以实现作业路径避障,并完成果实的采摘,工作性能稳定,能够满足农户对采摘机器人的使用和性能要求。
In order to improve efficiency of fruit harvesting,a obstacle avoiding system for working path of a harvesting robot based on PLC technology was designed.It was constituted o information acquisition system,IPC main program,motor execution system and some other components.The system controlled the route planning,fruit harvest and transportation.It planned the optimal path by modified ant colony algorithm.The performance test of harvesting robot in greenhouse indicated that it can meet the requirement of obstacle avoiding of working path,and achieving fruit picking.It has stable working property,and it can meet the use requirement of users for the harvesting robot.
作者
苑葵
李素静
Yuan Kui;Li Sujing(Tangshan Vocational College of Science and Technolog,Tangshan 063001,China)
出处
《农机化研究》
北大核心
2020年第10期247-250,共4页
Journal of Agricultural Mechanization Research
基金
河北省教育厅项目(SQ172008).
关键词
采摘机器人
PLC技术
作业路径避障系统
改进的蚁群算法
harvesting robot
PLC technology
a obstacle avoiding system for working path
modified ant colony algorithm
