The existing steering device in the fruit and vegetable packaging assembly line cannot adjust the attitude of lettuce to a unified attitude,affecting the input and packaging process of the packaging machine.This study...The existing steering device in the fruit and vegetable packaging assembly line cannot adjust the attitude of lettuce to a unified attitude,affecting the input and packaging process of the packaging machine.This study proposes an intelligent assembly line sorting method based on the visual positioning and model predictive control of a robotic arm.First,lightweight improvement based on the YOLOv5 is realized,the lettuce stalk in the background of the conveyor belt is promptly identified,the image of the lettuce stalk in the anchor box area is processed,and the edge contour point set is determined to extract the pixel coordinates of the optimal grasp point and mirror inclination angle of the lettuce.For the intelligent assembly line system,a robot arm kinematics model is constructed and the robot kinematics inverse solutions are calculated.Additionally,the lettuce movement speeds are dynamically measured by the vision system.A combination of the model prediction control,dynamic tracking,and rapid sorting of the lettuce by the robot claw is realized.The results show that the average detection time of a single frame image in the visual positioning part is 0.014 s,which is reduced by 50%;the accuracy and recall are 98%and 95%,respectively.The detection time is significantly reduced by ensuring accuracy.Within the current speed range of the packaging assembly line conveyor belt,the manipulator can grasp lettuce at different speeds stably and fast;the average axial error,average radial error,and adjusted average inclination angle error are 0.71 cm,1.02 cm,and 3.79°,respectively,verifying the high efficiency and stability of the model.The proposed method of this study enables application in the intelligent sorting operation of industrial assembly lines.展开更多
This paper introduces a CPS application for intelligent aeroplane assembly.At first,the CPS structure is presented,which acquires the characteristics of general CPS and enables“simulation-based planning and control”...This paper introduces a CPS application for intelligent aeroplane assembly.At first,the CPS structure is presented,which acquires the characteristics of general CPS and enables“simulation-based planning and control”to achieve high level intelligent assembly.Then the paper puts forward data fusion estimation algorithm under synchronous and asynchronous sampling,respectively.The experiment shows that global optimal distributed fusion estimation under synchronized sampling proves to be closer to the actual value compared with ordinary weighted estimation,and multi-scale distributed fusion estimation algorithm of wavelet under asynchronous sampling does not need time registration,it can also directly link to data,and the error is smaller.This paper presents hybrid control strategy under the circumstance of joint action of the inner and outer loop to address the problems caused by the less controllable feature of the parallel mechanism when undertaking online process simulation and control.A robust adaptive sliding mode controller is designed based on disturbance observer to restrain inner interference and maintain robustness.At the same time,an outer collaborative trajectory planning is also designed.All the experiment results show the feasibility of above proposed methods.展开更多
基金supported in part by the National Natural Science Foundation of China(Grant No.32071896)Jiangsu Province Science and Technology Plan Special Fund(Key Research and Development Plan of Modern Agriculture)Project(Grant No.BE2022363)+2 种基金Modern Agricultural Machinery Equipment and Technology Demonstration and Promotion Project of Jiangsu Province(Grant No.NJ2021-37)National Foreign Experts Program of China(Grant No.G2021145010L)the Science and Technology Project of Suzhou City(Grant No.SNG2020039).
文摘The existing steering device in the fruit and vegetable packaging assembly line cannot adjust the attitude of lettuce to a unified attitude,affecting the input and packaging process of the packaging machine.This study proposes an intelligent assembly line sorting method based on the visual positioning and model predictive control of a robotic arm.First,lightweight improvement based on the YOLOv5 is realized,the lettuce stalk in the background of the conveyor belt is promptly identified,the image of the lettuce stalk in the anchor box area is processed,and the edge contour point set is determined to extract the pixel coordinates of the optimal grasp point and mirror inclination angle of the lettuce.For the intelligent assembly line system,a robot arm kinematics model is constructed and the robot kinematics inverse solutions are calculated.Additionally,the lettuce movement speeds are dynamically measured by the vision system.A combination of the model prediction control,dynamic tracking,and rapid sorting of the lettuce by the robot claw is realized.The results show that the average detection time of a single frame image in the visual positioning part is 0.014 s,which is reduced by 50%;the accuracy and recall are 98%and 95%,respectively.The detection time is significantly reduced by ensuring accuracy.Within the current speed range of the packaging assembly line conveyor belt,the manipulator can grasp lettuce at different speeds stably and fast;the average axial error,average radial error,and adjusted average inclination angle error are 0.71 cm,1.02 cm,and 3.79°,respectively,verifying the high efficiency and stability of the model.The proposed method of this study enables application in the intelligent sorting operation of industrial assembly lines.
基金The work was supported by the project:2013BAF02B00.
文摘This paper introduces a CPS application for intelligent aeroplane assembly.At first,the CPS structure is presented,which acquires the characteristics of general CPS and enables“simulation-based planning and control”to achieve high level intelligent assembly.Then the paper puts forward data fusion estimation algorithm under synchronous and asynchronous sampling,respectively.The experiment shows that global optimal distributed fusion estimation under synchronized sampling proves to be closer to the actual value compared with ordinary weighted estimation,and multi-scale distributed fusion estimation algorithm of wavelet under asynchronous sampling does not need time registration,it can also directly link to data,and the error is smaller.This paper presents hybrid control strategy under the circumstance of joint action of the inner and outer loop to address the problems caused by the less controllable feature of the parallel mechanism when undertaking online process simulation and control.A robust adaptive sliding mode controller is designed based on disturbance observer to restrain inner interference and maintain robustness.At the same time,an outer collaborative trajectory planning is also designed.All the experiment results show the feasibility of above proposed methods.
