Design of Fruit Picking Device Based on the Automatic Control Technology

Abstract

£oWith our country's labor cost increase and forestry operations to improve the degree of automation, the automatic picking device will be gradually adopted to pick fruit in the future. This paper discusses the design process of intelligent mobile platform, five axis manipulator, end effector, electrical control device which belong to the automatic fruit picking device. The device is installed in the automatic navigation system and visual identity system, can accurately locate the position and pick fruit. The CAD/CAE software device was mainly used to design and analysis model, and design efficiency, feasibility and scientific were improved. According to the current development trend of fruit species gradually increased, the manipulator hand can adjust, which can pick the different shapes of fruits, and is installed with a visual sensor, pressure sensor, position sensor in the manipulator, and the finger stress analysis was made. In addition, the application of S7-200 model of PLC and pneumatic technology is used in the picking device, so that the overall structure is compact, more stable.

Design of Cherry-Picking Manipulator Based on PLC High Speed Parallel Automation Control

“…By investigating the influence of scale parameters on the dynamic evaluation index under the constraint of kinematics performance, the optimal scale parameters considering both kinematics and dynamic performance under the specific structural parameters 1 X are synthesized. 1 X is taken as input, and the dynamic optimization design satisfying dynamic accuracy constraints is completed at the level of elastodynamics [6]. After obtaining the optimal structural parameters 2 X , the structural parameters 2 X are fed back to the scale synthesis to realize the closed-loop design until the judgment conditions are satisfied.…”

“…Embedded soft PLC technology is developed on the basis of indepth study and analysis of traditional PLC technology, soft PLC technology and embedded system. Most of the PLC control programs applied to industrial control at present only contain the development status of common basic control instructions [1]. Embedded soft PLC can make up for the shortcomings of traditional PLC, such as poor compatibility and scalability, low cost performance ratio, and overcome the shortcomings of large-scale soft PLC system and waste of resources.…”

Design of Picking Robot Manipulator Control System Based on Fuzzy Compensation RBF Neural Network

“…Neural network is widely used in manipulator system control because of its special approximation ability. The paper [7] uses global sliding mode surface to combine the nonlinear mapping ability of neural network with the characteristics of sliding mode control. By using RBFNN algorithm and learning, the uncertain boundary of the system is estimated, which weakens the jitter caused by sliding mode control, and achieves certain effect on track tracking, but the initial tracking time has a great fluctuation.…”

End-Effectors Developed for Citrus and Other Spherical Crops

“…For example, the 10-degree-of-freedom under-driven three-finger hand [21][22][23][24][25][26][27][28][29][30] developed by Gosselin's group at Laval University in Canada, which is the international leader in the under-driven multi-finger hand control, uses only two motors, one motor is responsible for the grasping opening and closing motion of three fingers, and the other motor completes the finger steering. Rodriguze et al, developed a 15-degree-of-freedom single-motor-driven multi-finger hand, which can achieve safe and reliable grasping without any sensors and feedback control [31].…”