单片机在便携式智能小型采摘作业机器人的应用

为了满足山地和丘陵地带的小面积果蔬采摘作业需求,开发了一种新型的便携式智能采摘机器人,并利用单片机设计了机器人的红外线视觉和运动控制系统,降低了机器人的本体体积,节约了设计成本。采用RT-Thread实现了单片机嵌入式系统的设计,并开发了RT-Thread Builder集成环境,利用Gcc编译器可以实现单片机嵌入式系统的实时控制。为了验证便携式机器人工作的可靠性,对机器人的红外线和无线控制系统及单片机嵌入式系统进行了测试。结果表明:采摘机器人线程调度和串口通信可以正常工作,便携式采摘机器人利用红外线追踪可以成功地锁定指定目标采摘区域,并且移动耗时与人工移动相比大大节省了时间,提高了采摘的作业效率,可以满足山区和丘陵地带采摘作业的需求。

The Application of Single Chip Microcomputer in the Portable Intelligent Small Picking Robot

In order to meet the needs of small area fruit picking , a new type of portable intelligent picking robot is developed,and the infrared vision and motion control system of robot is designed .It uses RT-Thread to realize the design of the embedded system , and develop the Builder RT-Thread integrated environment .The use of Gcc compiler can realize the real-time control of the embedded system .In order to verify the reliability of portable robot , the robot infrared and wireless control system and embedded microcontroller system were tested , and it was found that picking robot thread scheduling and serial communication can be normal work , the portable picking robot can be successfully locked target the picking area with infrared ray tracing .And it can move the time-consuming and artificial mobile compared greatly ,also can save time and enhance the operational efficiency of picking ,which can meet the mountain and the hills picking opera-tion demand .