自動採果機構設計與控制

本研究整合自動追蹤控制方法與採果機構設計來處理自動採摘所遭遇之問題。整體系統包含仿生視覺系統、關節型機械手臂與採果爪具等機構，組成7個轉軸之系統，只需要相對位置與視覺資訊便可以使機械手臂自動地展現視覺追蹤動作，達成包含水平旋轉、仰角追蹤與焦點遠近追蹤等三項控制，搭配可變形之軟性PU材料所製成採果爪具，並由小型伺服馬達驅動螺桿滑台達成爪具夾取之動作即可進行採果。所以，本研究整合視覺模組Pixy Cmucam 5、微型伺服馬達SG-90、伺服馬達MG996、連續旋轉型伺服馬達Futaba S148作為驅動元件，並以Arduino Mega控制板來控制各機構間之運動整合，運用座標轉換的方法，簡化採果定位問題並結合採果爪具機構，完成自動採果機構設計與控制之初步試驗。

關鍵字

仿生視覺系統；機械手臂；採果爪具

並列摘要

This study proposes an automatic tracking control method and mechanism design that could solve the problem at picking up fruit automatically. The whole system includes a bionic vision system, a robotic arm, and harvesting grippers. It is an machinery system with 7 rotating shafts. The control algorithm uses relative positions and vision information, the robot arm and harvesting grippers can perform a vision-tracking action automatically and work together to grip the fruit and achieve three movements: the horizontal flip, the elevation angles tracking, and the focus tracking. The material used for tips of the grippers is flexible PU (Polyurethane). The grippers have been driven through servo motor with ball-screw actuators. The components used in this study are vision module Pixy Cmucam 5, micro servo motor SG-90, and servo motors MG996, Futaba S148. Arduino Mega controller modules take cares of motion integration of each mechanic parts. The conversion of coordinates makes position control much easier than ever. Thus a low cost, flexible and module-designed harvesting machinery can sense fruit and automatically move into the right position to grip fruit. This study verifies the tracking control algorithm by the experimental machinery and finishes the first step to the goal for combining with harvesting grippers, an automatic harvesting machinery can perform a fully automatic fruit gripping task.

並列關鍵字

Bionic Vision System ； Robotic Arm ； Harvesting gripper

國際替代計量

自動採果機構設計與控制

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