Autonomous Robotic Apple Harvester - Or Hirshfeld - אור הירשפלד

  • Published on
    23-Jun-2015

  • View
    150

  • Download
    6

Embed Size (px)

DESCRIPTION

Undergrduate final project at Technion, Haifa, Israel 2nd part - Autonomous Robotic Apple Harvester by Or Hirshfeld 2014

Transcript

<ul><li> 1. 2 : " : 6/25/2014 </li></ul><p> 2. 2 41 195 . . . . , . . . / " . . . , ,. . . . , , " SKF.. . " SKF . HI-TEC. . ATI . (cantilever beam) HEPCO. . . " HEPCO . , . . " 3. 2 41 295 . . . 4. 2 41 395 .................................................................................................................4 .....................................................................................................................3 ..............................................................................................................................5 :.........................................................................................................5 :.................................................................................5 :................................................................................................................5 ....................................................................................6 ...................................................................................................6 ,(.).................................................7 ......................................................8 :...................................................................................................................8 :.............................................................................................................9 :......................................................................................................44 :........................................................................................................42 :...........................................................................................................42 .............................................................................................................41 OTSEF:..................................................41 OTSEF...............................................41 .........................................................................................................41 .........................................................................................47 OTSEF....................................................................47 :......................................................................................................................48 ............................................................................48 ...........................................49 ............................................................................................22 ............................................................22 .............................................................................................23 .................................................................................26 .............................................................................26 .......................................................................27 ..................................................................28 ......................................................................................................29 .......................................................................32 ........................................................................................32 ...........................................................................................................33 5. 2 41 495 .....................................................................................................33 ,.........................................................................................31 ..............................................................................................35 ...........................................................37 ..........................................................................................37 .......................................................39 ().......................................................................12 ............................................................................12 .....................................................................14 ...................................................................................................13 .........................................................................................................................17 ................................................................................................17 ..............................................................................................18 ...............................................................................................................54 ...........................................................................................................52 .........................................................................................53 ...........................................................................................................................51 ..................................................................................................................55 ........................................................................................................................58 ' ' ' ' ' ' - 1 ' 6. 2 41 995 : ( Malus domestica ,)Malus sieversii , ' , , Xinjiang. Malus baccata-Malus sylvestris . . . -7,522, , . , , , , . - . ,Invalid source specified. : ) ( - - . - ,-. , ) ( . . ."" . . . ) ( . . , , , . . ) ( , )( . Invalid source specified. ( ) . , . . . . -) ( , , . . , .Invalid source specified. : - . . , , , . , " . . ) ( 7. 2 41 695 . " , .- . " , ' (Michigan State university) Tall Spindle, ,(2241). 1-, Tall Spindle 2-) ( (Lelai Zhoua, 2011) , ( Harmonic Drive backlash-free coaxial gears ,)DC ( permanent magnet DC motors , ,) brushless DC motors Maxon. 0 1 2 0 200 400 0 50 100 h Pickability Map r=3m %pickable 8. 2 41 795 3- (Lelai Zhoua, 2011) .)( , . 6.) ( )( Invalid source specified.. Figure1-Autonomous Fruit Picking Machine: A Robotic Apple Harvester 9. 2 41 895 Invalid source specified.. Figure2-Autonomous fruit picking machine : . - . . . ( " ,) (-7002 )2.5 3.5. 2.5-3.5 . , . . . 10. 2 41 595 , . . , , ,) ( , . . . . / : 4) . 2) . 3) -.' , . , " . ( . ) , , . . - -. " . : -12,222 -422,222 2242 -632.3. ) ( -32 -4222. -92% . , 11. 2 41 1195 Figure3-) ( . -41,222 ,-55 ,-1." -. "-3222 ( - " )-5.5. -1-5 , 42. -4 1-5 . 122 "-322,222. -15 -6666. . . . . 12. 2 41 1195 : .Invalid source specified. : 4. 2. . , 3. . " 1. . : 4. -322." 2.45 452. 3.22. 1. 25. Figure4- 31 0 2000000 4000000 6000000 8000000 10000000 12000000 14000000 05101520 "" 31 13. 2 41 1295 Figure9- -61 -322. : , . : 4) 2) " / 3) 1)( .) 5) 6) " 7) . : ' : 4) -1. 2) -2%-6. 3) -82%. 1) -222. 5) 4X2X3. 0 5000000 10000000 15000000 20000000 25000000 30000000 05101520 "" -61 14. 2 41 1395 6) -4. 7) . 8) 2.1"- 9) -2.5 42) IP65. 44) ' 1-72.) ( 42) 422. 15. 2 41 1495 . FESTO: FESTO, Festo PARTdataManager, -CAD.(Festo) FESTO . FESTO ( Handling systems-&gt;dimensional-Three gantries( ,)0 to 1000mm stroke Z axis.) DHSR-25-EGC185TB-2EGC120TB-DGEA40 #574557 4- 1 Z(Festo-3D_gantries, 2014) FESTO,Electromechanical Semi-rotary drives ERMB-20 552726 16. 2 41 1995 9- (FESTO-Rotary, 2014) 6- (FESTO-Rotary, 2014) 17. 2 41 1695 7- (FESTO-Rotary, 2014) 67, -. . , 8. 8- (FESTO-Rotary, 2014) 18. 2 41 1795 , 9. 5- (FESTO-Rotary, 2014) / - .) ( (AMCI, 2014). 11- FESTO . 19. 2 41 1895 : 11- (D. L. Peterson, 2003) 44 2.1"-(D. L. Peterson, 2003). 62 152 2.25(Faculty of Agriculture) , (MIWA, 1997). 1.8"- 42,Imada DPSJapan. 12- 20. 2 41 1595 . 13- (K. Kheiralipour, 2008) 462-552- .Universal Testing Machine. 14- (Wikipedia, 2014) 21. 2 41 2195 . ,45 19- - (Johan Baeten, 2007) 42.5 "- 150mbar- 230mbar . , . , , . 46 . 16- , 47. 22. 2 41 2195 17- (Wikipedia, 2014). 18- 45 49. 23. 2 41 2295 15- 24. 2 41 2395 452-. 52. " . - 261-, , 452-252-, (Johan Baeten, 2007). FESTO ,22. 21- (FESTO_Vacum, 2014) , 24. 25. 2 41 2495 21- (FESTO_Vacum, 2014) M10X1.5 62-422 "22. 22- (FESTO_Vacum, 2014) , 23. 23- (FESTO_Vacum, 2014) 21 , . 4. 26. 2 41 2995 24- (Festo_Vacuum_Generator, 2014) VN-05-L. 27. 2 41 2695 29- VN-05-L(Festo_vacum_gen, 2014) . . -. . Pressure Sensor EPB(Measurement_Specialties, 2014). ( cleats ) , 28. 2 41 2795 ,26. 26- (VacMotion, 2014). . . ,IDS ,-(Johan Baeten, 2007). IP67 .27 , , , 82 ." + 27- UI-1460RE(IDS, 2014) .453"28. 29. 2 41 2895 28-. . 25 . 30. 2 41 2595 31- -42 2 22. 31, RJ-31-S R(ATI, 2014) . 31. 2 41 3195 32- ". . 22." 33- 32. 2 41 3195 , 34- HS-1000SGT(Hitec, 2014) ( Pan/Tilt Bracket ,) , 35. 39-, ROB-10335(sparkfun, 2011) 33. 2 41 3295 36- (Tummala, 2002) . " ,Ecco CCTV Camera 142-007 ,-IP67 34 "12." 37- CCTV Camera 142-007(ECCO, 2014) 34. 2 41 3395 SKF . . 108 TN9 38 38- 108 TN9(SKF_bearing, 2014) . 35. 2 41 3495 , SKF. 36. 2 41 3995 (39) Hepco , . 37. 2 41 3695 35- HEPCO 38. 2 41 3795 41- Hepco HEPCO 12 "58." 39. 2 41 3895 41- ATI 42-ATI , 43-ATI (Ati Industrial Automation, 2004) 40. 2 41 3595 44- Round Profiles 8 D40(Machine_Building_Systems_Ltd., 2014) . 15 49- hitec(Buha, 2013) 16. 46- (Casey, 2013) 41. 2 41 4195 )( . " . 47-( Slip Ring)(wikipedia, 2014) : , 4) , 17. 2). X mF ma Cv 48- X,C, F-, " m 0 xCxmF 42. 2 41 4195 mFx x mCx x x xxx m F x m C m F x m C xx x x x x x 0 0 10 2 1 2 1 21 22 2 1 . FmSCS xmxmSC mSCSF X CxCSXxmmSxXmSF xCxmf 1)0()0(][1 )0()0()0( 22 2 2 2 22 1 0 1 100][1 mSCSF X mSCSF X FmSCS mmSC mSCSF X state-space , -SIMULINK . 45- . . . ' 43. 2 41 4295 , " , . " 3/21/3 1/3 2 3/2 0.338 (1 ) 1 1 1 1 u L u u L L F E K K D R R R R : E F D RU RU RL LR KU KL : " 44. 2 41 4395 "(Graham Brooker, 2006). . " " . . " " FMCW .FM CHIRP. 91( FM) 51- ,(2114) 0.00E+00 5.00E+05 1.00E+06 1.50E+06 2.00E+06 2.50E+06 3.00E+06 3.50E+06 E[Pa] " 45. 2 41 4495 92. 42. 2 2 1 02cos ttfVt , T B 1, B ( Bandwidth, T , f0 / . t T B ff 0 2. ( CW " ) (Wikipedia_CW, 2014). 53-. " . , " 51 " . . 46. 2 41 4995 94- . ," - 99- - " . -91- 4.6 - . . . . 47. 2 41 4695 96. " 97- , . 48. 2 41 4795 . . : : 49. 2 41 4895 .' . " 50. 2 41 4595 Sub- systemAction Start time [ms] End time [ms] Duration [ms] transitional jointStart transitional engine05050 mid jointStart mid revolute engine05050 mid jointAccelerating mid revolute50512 transitional jointAccelerating transitional50150100 mid joint Constant velocity mid revolute51406355 transitional jointConstant velocity transitional150336186 transitional jointDecelerating transitional336436100 end jointstart end revolute engine38643650 mid jointDecelerating mid revolute4064082 end jointAccelerating end revolute43648448 end joint Constant velocity end revolute484843359 vacuumstart vacuum84189150 end jointDecelerating end revolute84389148 Cartesian Cardizem movement to catch apple8911091200 vacuumraising vacuum10911241150 Cartesian Cardizem movement to detach apple12411441200 end jointAccelerating end joint1441148948 end jointconstant velocity end joint14891848359 end jointDecelerating end joint1848189648 transitional jointAccelerating transitional18961996100 51. 2 41 9195 transitional jointConstant velocity transitional19962182186 mid jointAccelerating mid189618982 mid jointConstant velocity mid18982253355 end jointAccelerating end2253230148 end jointConstant velocity end23012660359 end jointDecelerating end2660270848...</p>