| 基于DTN算法的采摘机器人控制系统可行性研究 |
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| 引用本文： | 庞海.基于DTN算法的采摘机器人控制系统可行性研究[J].农机化研究,2022,44(5):119-123. |
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| 作者姓名： | 庞海 |
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| 作者单位： | 郑州升达经贸管理学院, 郑州 451191 |
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| 基金项目： | 河南省自然科学基金项目(182300410159)。 |
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| 摘 要： | 为进一步提高我国采摘机器人的智能采摘水平,以优化系统数据采集与传送效能参数、确保控制系统运行稳定性为目标,针对采摘机器人的控制系统进行设计研究.利用DTN算法体系与DTN网络层级数据处理算法,实现网络信息拥堵控制,建立DTN算法模型,设计采摘机器人控制系统整体架构并展开控制试验.试验结果表明:该采摘机器人控制系统应用D...
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| 关 键 词： | 采摘机器人 DTN算法 拥堵控制 轨迹误差率 运行稳定率 |
Feasibility Research on the Control System of the Picking Robot Based on DTN Algorithm |
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| Pang Hai.Feasibility Research on the Control System of the Picking Robot Based on DTN Algorithm[J].Journal of Agricultural Mechanization Research,2022,44(5):119-123. |
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| Authors: | Pang Hai |
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| Institution: | (Zhengzhou Shengda University of Economics,Business&Management,Zhengzhou 451191,China) |
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| Abstract: | In order to further improve the intelligent picking level of the picking robot in China, the control system of the picking robot was designed and studied in order to optimize the system efficiency parameters on the data collection and transmission, and then ensure the operation stability of the control system.Through the use of DTN algorithm system and DTN network level data processing algorithm, network information congestion control was realized, DTN algorithm model was established, the overall architecture of the control system of the picking robot was designed and the control experiment was carried out. The results showed that the DTN algorithm had a good adaptability to the control system of the picking robot, and the trajectory error rate of the picking actuator was greatly reduced, the success rate of dynamic and static picking was above 90%, and the operation stability rate of the whole machine was over 94.80%. The parameters of the test meet the expectations and verified the feasibility of the design of the control system of the picking robot, which would be having a good promotion prospect. |
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| Keywords: | picking robot DTN algorithm congestion control the trajectory error rate operation stability rate |
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