DOI：10.3969/j.issn.1672-3872.2023.24.009
基金项目：吉林省高等教育教学改革研究课题（JJY202147435961）；吉林省高教科研课题（JGJX2022C88）；吉林省职业教研与成人 教育教学改革研究课题（2021ZY306）；吉林省教育厅科研课题（JJKH20180982KJ）
作者：张嵩1，吴波2，潘相龙 2,3，杨立爽 2,4
（1. 吉林广播电视台卫视频道，吉林 长春 130119；2. 长春工程学院机电工程学院，吉林 长春 130012； 3. 重庆渝江压铸有限公司机加二部，重庆 400000；4. 上海剑平动平衡机制造有限公司技术中心，上海 200000）
摘 要：【目的】解决农业采摘机器人控制电路简洁性欠佳、稳定性差、成本高昂的问题，助力农业采摘机器人的推广普及。【方法】课题组对全地形智能农业采摘机器人行走、避障及采摘控制电路进行了设计。该电路包括核心控制器模块，与核心控制器模块输入端连接的超声波测距模块、摄像头模块、压力感知模块和红外测距模块，与核心控制器模块输出端连接的左行走电机驱动电路、右行走电机驱动电路、摄像头旋转电机驱动电路、摄像头俯仰舵机驱动电路、底座旋转电机驱动电路、旋转臂驱动电机驱动电路、摆臂驱动电机驱动电路、手爪旋转电机驱动电路和手爪驱动舵机驱动电路。各个模块有机配合，实现了全地形采摘机器人的智能路径规划和采摘。【结果与结论】本电路结构简单明了，具备高稳定性、高可靠性和强实用性，技术实现方便且成本相对低廉，功能完备且功能扩展性强，便于推广及应用，可搭配收获机械、喷淋设备等，也可投入抢险救灾、科考探测、物流运输等其他领域。
关键词：核心控制器模块；控制电路；采摘机器人；智能化
Circuit Design of All-Terrain Intelligent Picking Robot
Zhang Song1 , Wu Bo2 , Pan Xianglong2,3, Yang Lishuang2,4
(1.Satellite Television Channel, Jilin Broadcasting and Television Station, Jilin Changchun 130119; 2.Mechanic and Electronic Engineering, Changchun Institute of Technology, Jilin Changchun 130012; 3.Machining Department, Chongqing Yujiang Die Casting Co., Ltd., Chongqing 400000; 4.Technical Center-Mechanical Design Department, Shanghai Jiangping Dynamic Balancing Machine Manufacturing Co., Ltd., Shanghai 200000)
Abstract: [Objective] To solve the problems of poor simplicity, poor stability and high cost of agricultural picking robot control circuits, and to assist in the promotion and popularization of agricultural picking robots. [Method] The research group has designed the walking, obstacle avoidance and picking control circuit of the all-terrain intelligent agricultural picking robot. The circuit includes a core controller module, ultrasonic ranging module, camera module, pressure sensing module and infrared ranging module connected with the input end of the core controller module. The left walking motor drive circuit, right walking motor drive circuit, camera rotating motor drive circuit, camera pitching steering gear drive circuit, base rotating motor drive circuit, rotary arm drive motor drive circuit, swing arm drive motor drive circuit, paw rotating motor drive circuit and paw drive steering gear drive circuit are connected with the output end of the core controller module. All modules cooperate organically to realize intelligent path planning and picking of all-terrain picking robot. [Result and Conclusion] This circuit has a simple and clear structure, high stability, high reliability, and strong practicality. It is easy to implement and has relatively low cost, complete functions, and strong scalability, making it easy to promote and apply. It can be used with harvesting machinery, spraying equipment, etc., and can also be applied in other fields such as emergency rescue and disaster relief, scientific research and detection, logistics and transportation.
Keywords: core controller module; control circuit; picking robot; intelligentize
引文信息：[1]张嵩，吴波，潘相龙，等.全地形智能采摘机器人电路设计[J].南方农机，2023，54(24)：38-41.
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