自動採果機構設計與控制

Abstract

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。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).