Intelligent control of a pruning robot
Intelligent control of a pruning robot
复制标题
修剪机器人的智能控制
DOI：
10.1109/sii.2014.7028010
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
S. Ueki
中科院分区：
文献类型：
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作者：
H. Kondo;H. Kawasaki;Yasuhiko Ishigure;T. Endo;S. Ueki
提出了一种基于机器人状态估计的智能修剪机器人控制系统，该系统包括树枝切割的重试功能和螺旋爬树的速度调节功能。当机器人的倾角使得分支与链锯的接触位置不理想时，重试功能才会起作用。该功能包括三个运动：回螺旋下降，调整四个主动轮的转向角度，螺旋爬升与修剪。根据链锯的载荷，对螺旋爬升速度进行调整，以获得最佳的分支切割速度，该速度取决于分支的直径。因此，该系统提高了树枝切割的速度，轻微的早枝和减慢了粗大的树枝。实验证明，所开发的智能控制提高了修剪机器人的可靠性和效率。
We present an intelligent control system for a pruning robot, which consists of a retry function for branch cutting and a velocity adjustment for spiral climbing based on robot state estimation. The retry function works when the inclination of robot is such that the contact position between the branch and chainsaw is not ideal. The function consists of three motions: back spiral moving down, adjustment of the steering angles of four active wheels, and spiral climbing with pruning. The velocity adjustment of spiral climbing is executed to obtain an optimum branch cutting velocity based on the load of the chainsaw, which depends on the diameter of the branch. The system thus increases speed of branch cutting for slight brunches and slows for thick branches. We demonstrate experimentally that the developed intelligent control enhances the reliability and efficiency for our pruning robot.