基于嵌入式监控的双差速驱动果蔬采摘机器人设计

摘要

为了提高采摘机器人的转弯性能和自动寻迹能力，利用双差速驱动系统建立了速度协同约束的非线性运动模型，并进行了线性优化，提出了一种基于嵌入式监控图像采集反馈信息的闭环控制模型，提高了采摘机器人移动和转弯寻迹的灵活性。针对采摘机器人双差速的路径寻迹问题，建立了机器人输入、输出的非线性运动模型，并分析了冗余运动约束和系统运动约束条件，通过控制姿态偏差和距离偏差，结合嵌入式监控系统的反馈信息，实现机器人移动和寻迹的反馈调节。对采摘机器人的采摘性能进行了测试，测试项目主要包括寻迹能力和路径规划的耗时。通过测试发现，机器人可以实现较高精度的路径寻迹功能，路径规划耗时短，系统稳定性好。%In order to improve the performance and the ability of automatic tracing of the picking robot, a new nonlinear motion model is established by using the double differential drive system.For this problem, the nonlinear motion model of the robot's input and output is established, and the redundant motion constraints and system constraints are analyzed.And the feedback information of the embedded monitoring system is realized by controlling the attitude error and distance devi-ation.Finally, the performance of the picking robot is tested.The test items include the searching ability and the path planning.Through the test, it is found that the robot can achieve higher precision of the path function, the path planning is short, and the system stability is good.