基于双CPU的营养钵苗嫁接机器人控制系统

Control system of grafting robot for nutritional bowl based on double CPU

针对营养钵苗机器人嫁接工序繁多和时间长的问题 ,为了提高嫁接速度 ,采用双CPU系统对机器人进行控制。设计的机器人控制系统按功能划分为识别和嫁接 2个子系统 ,识别子系统主要实现取苗及子叶方向和生长点高度的识别 ,嫁接子系统控制对砧木和穗木进行搬运、切削、接合、固定及排苗等。通过I/O接口 ,2个CPU可互通信息 ,以协调动作 ,实现了对嫁接机器人的并行控制。样机作业试验结果表明 ,采用该控制系统的嫁接机器人作业速度可达 36 0～ 4 80棵 /h ,与传统的单CPU顺序控制系统相比 ,工作效率提高了将近 1倍。

According to the grafting robot's characteristic of multi tasks, the control system adopts to double CPU in order to increase the working rate. It is divided into two parts: one for detecting and another for grafting, which are controlled by two CPU respectively, and each CPU has their own different duties. The detecting CPU is mainly in charge of getting the root stock, identifying the leave' direction and growing point's height. The grafting CPU's tasks are to realize giving, cutting, grafting and sending out. In order to complete the grafting process, information is transmitted by I/O ports between two CPU to make them harmonize with each other. The control system realizes that several operations are done at the same time. Therefore, the working rate and reliability are increased greatly. So the automatic grafting robot has the high practicality.