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《Journal of Agricultural Mechanization Research》 2016-08
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Design of Cherry Picking Robot——Based on PLC High-speed Parallel Automatic Control

Zhang Li;Guo Suna;Wang Xiaozhi;Henan Polytechnic Institute;Nanchang Institute of Science & Technology;Nanchang University;  
In order to decrease the broken rate of picking robot in the process of picking cherry,and enhances the working efficiency of the robot,a new robot based on fuzzy control and high speed parallel automation control has been designed. The machine can use PC for cherry image acquisition,and can be conducted for image binarization,expansion corrosion process,thus successful identification of ripe cherry,you can use the fuzzy PLC control method,response to control the Angle error of picking robot. In order to verify the performance of the robot,the use of cherry picking experimental method for cherry picking robot performance was tested. Through test,found that high speed parallel automatic control overall pick cherry time was shortened obviously,improve the work efficiency of the robot,through fuzzy control can make the point of view of picking robot response smoothly to achieve the specified Angle,and there are no big overshoot,which is good for cherry picking,reduce the breakage rate.
【Fund】: 湖北省自然科学基金项目(2014CFB322)
【CateGory Index】: TP242;S225.93
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