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提出一种直角坐标系双机械手名优茶采摘机器人。采用积分求和方法,按茶叶个数相等原则将采摘区域按左右两矩形区分配给2个机械手。使用蚁群算法进行机械手的采摘路径规划。以总采摘区域的路径半程作为目标,分别进行了2区和将2区再划分为4区的采摘路径规划和优化。为避免采摘过程中2个机械手的干涉,将每个机械手采摘区域分为2区,并约束各运动路径左下角处茶叶为采摘起点。计算结果表明,使每个机械手按“M”型路线采摘,具有较好效果。改变自适应调节信息素浓度值和迭代终止条件,可改善基本蚁群算法搜索时间较长和易陷入局部最优的缺陷,并提高全局搜索能力和计算效率。仿真结果表明提出的采摘策略和规划路径可提高名优茶采摘效率。
A robot named Cartesian robot with two manipulators in Cartesian coordinates was proposed. Adopt the method of integral summation, according to the principle of equal number of tea, divide the picking area into two manipulators according to the left and right rectangular areas. Using Ant Colony Algorithm to Pick Picking Path of Robot. Taking the half-way of the total picking area as a target, we carried out planning and optimization of picking route in Zone 2 and subdividing Zone 2 into Zone 4 respectively. In order to avoid the interference of two robots in the picking process, each robotic picking area is divided into two zones, and the tea leaves at the lower left corner of each movement path are constrained to start picking. The calculation results show that picking each robot by “M” type route has good effect. Changing adaptively the pheromone concentration value and the iterative termination condition can improve the shortcomings of the basic ant colony algorithm, such as long search time and easy to fall into local optimum, and improve the global search ability and computational efficiency. The simulation results show that the proposed picking strategy and planning path can improve the efficiency of picking famous tea.