农机化研究2025，Vol.47Issue(6)：53-57,77,6.DOI:10.13427/j.issn.1003-188X.2025.06.008
基于嵌入式系统的采摘机器人作业控制研究
Research on Operation Control of Picking Robot Based on Embedded System
摘要
Abstract
Picking operation is an important link in the production of agricultural and sideline products,which directly af-fects the production efficiency of agricultural and sideline products.Aiming at the problems of backward picking methods,poor precision and low efficiency in traditional picking operations,this paper takes strawberry picking robot as the research object,and on the basis of in-depth study of its structure and working principle,introduces an embedded system to com-plete the kinematics analysis of the picking manipulator.Through the overall hardware design of the picking robot control system,the hardware module selection of the control system is completed,and the simulation analysis of job control is car-ried out,Finally,conduct a picking experiment.The results show that the harvesting robot based on embedded systems can accurately control the harvesting operation,achieve the design goals in terms of harvesting accuracy and target recog-nition rate,and the system runs relatively safely and stably,which has great promotion value for application to other har-vesting fields.关键词
采摘机器人/作业控制/目标识别/运动学分析/嵌入式系统Key words
picking robot/job control/target recognition/kinematics analysis/embedded system分类
农业工程引用本文复制引用
范江波..基于嵌入式系统的采摘机器人作业控制研究[J].农机化研究,2025,47(6):53-57,77,6.基金项目
河南省高等学校重点科研项目(22B413007) （22B413007）
三门峡市科技发展计划项目(2021002005,2021002003) （2021002005,2021002003）
三门峡职业技术学院自然科学科研项目(SZY-2022-005) （SZY-2022-005）
