基于武术飞脚动作学习的类人采摘机器人控制系统

摘要

为了使采摘机器人可以适应不同高度的采摘作业需求,将武术飞脚动作引入到了类人采摘机器人的设计过程中,通过对腿部伸缩功能的设计,使机器人可以采摘到不同高度的目标果实.采摘机器人以STC12C5A60S2单片机作为控制器的控制核心,在 STC12C5A60S2单片机的基础上搭载了以红外接近传感器、红外测距传感器和灰度传感器组成的检测模块,实现了腿部的可以伸缩功能,且在必要的时候可以进行跳跃.为了验证武术飞脚动作在采摘机器人上使用的可行性,设计了一款基于武术飞脚动作的腿部可伸缩机器人,采用电机驱动和舵机控制的方式,通过调整舵机的角度变化,成功实现了采摘机器人的腿部的伸缩功能.试验结果表明:采摘机器人可以实现不同高处果实的采摘作业,提高了机器人对复杂高度作业环境的适应能力.%In order to make the picking robot can adapt to different height of the picking operation requirements,design process will be introduced to the martial arts fly foot movement type picking robot,through the design of the leg stretching function,so that the robot can pick up the different height of the target.Picking robot to STC12C5A60S2 microcontroller as the core controller,based on STC12C5A60S2 MCU equipped with a proximity sensor,the infrared detection module of infrared sensors and gray sensor is realized,the legs can be telescopic function,and can jump when necessary.In order to verify the feasibility of the martial arts fly foot movement used in picking robot of a martial arts fly foot action leg based on Scalable robot design,driven by the motor and servo control mode,by adjusting the steering angle changes,the suc-cessful implementation of the extension function of picking robot leg.The experimental results show that the picking robot can realize the picking operations at different heights, so as to improve the adaptability of the robot to the complex and high operating environment.