摘要
针对果树采摘机器人控制系统,本设计中硬件平台采用KP-6420i型工控机和RS-232转RS-422转换器的控制结构构成,这样的硬件系统具有模块化,成本低,易实现的特点。视觉系统采用VFW图像采集系统,它可以直接访问视频缓冲区,不需要生成中间文件,实时性高,可以满足果树采摘机器人对图像实时处理的速度要求。软件基于VisualC++6.0开发环境,通过串行通信实现对机械臂的运动控制,最后通过实验验证了设计的合理性和有效性。
In the system of a fruit picking robot,an embedded computer KP-6240i and RS-232 to RS-422 converter were used to build the control hardware platform.The characteristics of this control system are modular,low-cost and easy to achieve.The VFW image acquisition system is used in visual system,which can directly access the video buffer and needn＇t to generate intermediate files,so it has a good characteristic to meet the image processing speed in real-time control of the fruit picking robot.Serial communication is used in this system to achieve the motion control of manipulator based on Visual C＋＋ 6.0 enviroment.Finally,the experimental result validated the rationality and the effectiveness of the design.
出处
《机械设计与制造》
北大核心
2010年第6期142-144,共3页
Machinery Design & Manufacture
基金
国家"863"计划资助(2006AA10Z054)
江苏大学校基金资助(07JDG071)
关键词
采摘机器人
控制系统
工业PC机
串行通信
Harvesting robot
Control system
Industry PC
Serial communication
