任务分割和同步检索方案用于双臂果园果树自动机
Bin Yan1,2, Xiameng Li3
1College of Automation and Information Engineering, Xi'an University of Technology, Xi'an 710048, China.
Plants (Basel, Switzerland)
|September 13, 2025
概括
一个新的双臂果收获机器人通过使用动态任务分配和智能果实测序来显著提高效率. 这种先进的系统确保了协调,无碰撞的操作,以实现更快,更有效的机器人收获.
科学领域:
- 农业机器人农业机器人
- 机械电子工程 机械电子工程
- 计算机视觉 计算机视觉
背景情况:
- 传统的智能果收获系统通常由于依赖单个机器人操纵器而遭受低于最佳的吞吐量.
- 需要改进的机器人系统,能够协调,高效的水果收获.
研究的目的:
- 设计一个双臂收获机器人原型,以克服单个操纵器系统的吞吐量限制.
- 开发和验证动态任务分配和智能果实测序方法,用于双操纵器收获.
主要方法:
- 基于AUBO-i5操纵器框架的双操纵器收获平台的制造.
- 使用U管优化原则制定动态任务分配和果实测序方法.
- 通过V-REP动力学模拟和现场评估进行验证,跟踪终端效应器姿势和无碰撞运动.
主要成果:
- 在模拟中实现了82.1%至99%的并行运行比率,在现场测试中达到85.7-93.3%.
- 证明了成功的无碰撞操作和收获所有目标水果.
- 与单个操纵器系统相比,大幅缩短总收获时间.
结论:
- 基于U管的动态区分和测序方法对于双操纵器果实收获是有效的.
- 开发的双臂机器人原型在智能果园应用中展示了增强的吞吐量和效率.
- 这种方法为提高机器人收获系统的性能提供了可行的解决方案.
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