基于足球比赛命中率远程采摘机器人监控设计

Monitoring and Control Design on the Remote Picking Robot Based on the Hits Rate in Football Match

为更深层次对我国采摘机器人的结构与控制进行改进优化,结合足球比赛的命中率机理,对采摘机器人的远程监控系统进行了设计。明确足球命中机理的核心控制概念,将足球比赛命中率与远程采摘机器人监控有效融合,建立采摘监控理论模型,并进行基于足球命中率的远程采摘监控试验。试验结果表明:选择步进电机转速范围为250~300r/min内,采摘作业的采摘损伤率由设计前的0.53%降至0.26%,降低约50%以上;采摘的综合效率由97.14%提升至98.83%,整体设计合理可行,可为其他类似监控系统优化提供一定的思路与参考。

In order to further improve and optimize the structure and control of picking robots in China,a remote monitoring system for picking robots was designed and studied based on the hit rate mechanism of the football match.The core control concept of soccer hitting mechanism were defined,the hitting rate of football match and the monitoring of remote picking robot were also integrated effectively,then the correct theoretical model of picking monitoring was established according to the similarity between the characteristics of intelligent picking action and the key action of football.The software control instruction design and hardware information acquisition facility of the monitoring system were designed,and the remote picking monitoring experiment based on the hit rate of football was carried out.The experiment showed that in the stepper motor range of 250-300 r/min,the picking damage rate of the robot was reduced from 0.53%to 0.26%before the design,and the comprehensive picking efficiency could be increased from 97.14%to 98.83%.The overall design was reasonable and feasible which also could be provide some ideas and references for the optimization of other similar monitoring systems.