红花采摘机器人控制系统设计及多传感器融合定位研究

IF 0.9 4区农林科学 Q3 AGRICULTURAL ENGINEERING

Engenharia Agricola Pub Date : 2023-04-21 DOI:10.1590/1809-4430-eng.agric.v43n2e20210238/2023

Guomin Gao, Hui Guo, Wei Zhou, Dan Luo, J. Zhang

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引用次数: 1

摘要

本文讨论了红花采摘机器人控制系统的设计，重点研究了基于多传感器融合的导航控制子系统。设计了导航子系统、识别定位子系统、拾取子系统和调平子系统。对导航子系统的硬件和软件进行了详细设计，提出了一种基于扩展卡尔曼融合技术的多传感器融合定位方法。比较了不同组合导航方法的精度和稳定性。为了验证该方法的有效性和准确性，进行了室外试验。试验结果表明，该机器人的室外融合定位精度小于8 cm，在卫星信号丢失的情况下，导航控制子系统仍能提供较高的定位精度。最后利用综合定位方法得到的最终定位结果

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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DESIGN OF A CONTROL SYSTEM FOR A SAFFLOWER PICKING ROBOT AND RESEARCH ON MULTISENSOR FUSION POSITIONING

This paper discusses the design of a safflower picking robot control system and focuses on a navigation control subsystem based on multisensor fusion. A navigation subsystem, an identification and positioning subsystem, a picking subsystem, and a levelling subsystem are designed. The hardware and software of the navigation subsystem are designed in detail, and a multisensor fusion positioning method based on extended Kalman fusion technology is proposed. The accuracy and stability levels of different combined navigation methods are compared. To test the effectiveness and accuracy of the proposed method, an outdoor test is carried out. The test results show that the outdoor fusion positioning accuracy of the robot is less than 8 cm, and when the satellite signal is lost, the navigation control subsystem can still provide high positioning accuracy. The final positioning result obtained using the integrated positioning method of the

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来源期刊

Engenharia Agricola AGRICULTURAL ENGINEERING-

CiteScore

1.90

自引率

20.00%

发文量

审稿时长

4-8 weeks

期刊介绍： A revista Engenharia Agrícola existe desde 1972 como o principal veículo editorial de caráter técnico-científico da SBEA - Associação Brasileira de Engenharia Agrícola. Publicar artigos científicos, artigos técnicos e revisões bibliográficas inéditos, fomentando a divulgação do conhecimento prático e científico na área de Engenharia Agrícola.