苹果采摘机器人无线数据传输系统

Wireless data transmission system of apple harvesting robot

针对解决苹果采摘机器人众多传感器数据采用有线传输,数据线纷繁杂乱、检修不便等问题,以及其直动关节在伸缩过程中对末端执行器传感器数据线容易扯断纠结等具体情况,设计了传感器无线数据传输系统。首先对苹果采摘机器人无线数据传输进行了整体设计,对无线通信模块电路、USB通信电路进行了选型设计,同时设计了部分传感器的信号调理电路;其次为了无线数据实时、可靠的传输,在方法上采取了质效控制措施,并制定了数据传输协议,然后进行了无线数据传输的程序设计,最后通过测试结果验证了传输协议的健壮性,数据传输的高效性,并根据测试结果与系统开销之间进行协调,选取了最优设置参数。该研究为采摘机器人及其他农产品生产机器人数据传输提供了一种无线实现方式和新的实现方案。

The problems of chaotic and massive data link and inconvenient maintance usually existed in transducer data wired transmission on the apple picking robot. In addition,terminal actuators and transducers were very easy to fall apart and intertwine when translational joints stretched out and drew back. In order to solving these problems,the wireless transmission of transducer data was studied. The integrated design of communication module circuit,USB communication circuit and signal conditioning circuit for part transducer were applied. The wireless transmission of transducer data was programmed. The quality and efficiency of integrated design and protocol of data transmission were controlled and formulated to achieve real-time and reliable wireless transmission. The results showed that protocol of wireless transmission had good robustness,wireless transmission of transducer data had higher efficiency. The design parameters were optimized by considering experimental results and system overhead. The wireless transmission of transducer data is feasible for robotics-manipulator of fruits＇ picking and other agricultural productions.