基于DCS的多个采摘机器人运动参数设计

Design of Motion Parameters of Multiple Picking Robots Based on DCS

随着果园种植规模的扩大,果蔬采摘的工作量也逐渐增大,采摘机器人的应用越来越广泛。但是,单个采摘机器人系统复杂、运动参数种类多,且控制方式单一,缺乏对多个采摘机器人的综合控制,采摘作业过程中由于缺乏协作和数据共享,容易出现相互干涉、作业效率低等问题。为克服这一难题,深入研究了集散控制系统(DCS)的体系结构,设计了基于DCS的多个采摘机器人控制系统,通过引入PLC技术、通讯技术和传感器技术,完成了一个主控计算机对多个采摘机器人运动参数的实时监测和综合控制。同时,对控制系统的总体方案进行设计,对控制系统核心部件现场主控制站、RS-485通讯模块及PLC控制器进行硬件模块设计,完成了控制系统的运行流程的优化设计。基于DCS的多个采摘机器人控制系统能够实现对多个采摘机器人运动参数的实时采集,可对多个采摘机器人进行综合控制,有效提高了采摘机器人工作效率,成本投入更低,具有较大的推广价值。

With the expansion of the orchard planting scale,the workload of fruit and vegetable picking is gradually increasing,and the application of picking robots is becoming more and more widespread.However,the single picking robot system is complex,there are many types of motion parameters,and the control method is single.There is a lack of comprehensive control of multiple picking robots.Due to the lack of collaboration and data sharing,the picking robots are prone to problems such as mutual interference and low operating efficiency.In order to overcome this problem,this paper deeply studies the architecture of distributed control system(DCS),designs multiple picking robot control systems based on DCS,and completes a main control computer pair by introducing PLC technology,communication technology and sensor technology real-time monitoring and comprehensive control of the movement parameters of multiple picking robots,and the design of the overall plan of the control system,the hardware module design of the main control station,RS-485 communication module and PLC controller of the core components of the control system,and finally completed optimize the design of the operation process of the control system.The control system of multiple picking robots based on DCS can realize the real-time collection of the motion parameters of multiple picking robots,and can comprehensively control the multiple picking robots,effectively improving the work efficiency of the picking robots,lowering the cost investment,and having a large promotion value.