At present, the primary focus of research on picking robots centers around the visual system's ability to recognize and locate fruit targets. The camera captures image data of the fruits, which is then processed through complex algorithms to logically determine the fruit's position and issue a picking command. This type of robot demonstrates strong automatic recognition capabilities, enabling it to perform tasks without manual intervention. It represents the ideal approach for agricultural robots; however, the underlying technologies are still not fully mature, and the initial investment is relatively high. To address this, the design adopted a human-machine collaboration model—where humans identify the fruits, and the robot performs the actual picking. The robot is remotely controlled via a wireless remote control, allowing operators to observe the field and guide the robot accordingly. This method leverages more established prior art, reducing development time and cost. Although it cannot completely replace human labor, it significantly reduces the physical burden on workers and is well-suited for current conditions in Chinese agriculture.
To address these challenges, this paper presents an analog picking robot based on the ATmega32 microcontroller, capable of performing manual mechanical picking. An infrared arm is used to extend the end gripper to the target fruit, completing the grasping and picking process.
1. Overall Robot Design
The robot integrates mechanical manufacturing techniques, electronic circuitry, automation, and sensor detection, along with software programming. In this design, sensors and infrared remote controls are connected to the main control board. After processing, the board controls a three-degree-of-freedom robotic arm and a crawler chassis structure. The infrared remote-controlled robotic arm is used for fruit grasping. A block diagram of the robot is shown in Figure 1.
[Image: Block diagram of the robot]
The robot operates using a direct manipulation mode, where the operator sends commands via a remote controller. These commands control the robot’s movement, steering, and the operation of the robotic arm and gripper. The robot features a simple structure, rich functionality, and strong expandability.
2. Mechanical Device Design
The mechanical drawing of the remote picking robot is shown in Figure 2. It consists of two main parts: a two-degree-of-freedom mobile platform and a three-degree-of-freedom robotic arm with a gripper. The robot body is constructed from mesh aluminum and engineering plastics, making it lightweight and easy to modify. The mobile platform is a tracked chassis equipped with a control board, picking auxiliary devices, sensors, and a power module. It uses four FAULHABER motors for movement. The robotic arm is mounted on the chassis, with servo motors controlling the gripper’s opening, rotation, and movement.
[Image: Mechanical design of the robot]
3. Hardware Circuit Design
Given the need to process large amounts of sensor data while controlling multiple motors, a powerful microcontroller is essential. This design uses the ATmega32 16AU, an 8-bit AVR microcontroller known for its performance and low power consumption. With 32KB of flash memory, it supports real-time operations and efficient processing.
3.1 Control Board Design
The motherboard includes a power module, crystal oscillator, communication interface, motor driver, infrared remote control receiver, and input/output ports. It features 8 input interfaces, 8 output interfaces, 4 DC motor outputs, and programmable modules. This modular design allows for easy expansion and customization.
[Image: Control board layout]
3.2 USB to UART Download Circuit
A CP2101 chip is used to convert USB signals to UART for communication between the microcontroller and the PC. It simplifies the connection and ensures reliable data transfer.
3.3 Infrared Remote Control Design
The BL35P12 microcontroller is used for key scanning and infrared signal generation. It enables precise control of the robot’s movements and actions.
4. Software Programming
The software is developed using AVR Studio 4, offering editing and simulation functions. The program includes subroutines for motor control, sensor processing, and remote control. Structured coding improves readability and maintainability.
[Image: Program flowchart]
5. Debugging and Testing
The robot has a length of 1.2 meters and a width of 0.38 meters, with a maximum speed of 0.5 m/s and a climbing angle of 45 degrees. The infrared remote control has a range of 3 meters. Tests were conducted to evaluate the robotic arm’s performance, with results showing stable and accurate movement.
[Images: Test results and robot assembly]
6. Conclusion
This paper introduces an ATmega32-based picking robot that combines durability, flexibility, and ease of use. It offers two complementary picking modes—vibrating tree shaking and individual clamping. Testing confirmed its effectiveness in performing expected tasks. The system is compact, user-friendly, and reliable, meeting the design objectives. Future improvements should include machine vision and stress sensors for enhanced precision and safety.
Tier 1 Solar Panel
Chinese Tier 1 brand Solar Panel (Longi, Jinko, Trina, Canadian, Ja etc.)
This type of product is mainly Tier 1 solar module product in China, include Longi solar panel. Jinko solar panel, Canadian Solar panel, ja solar panel etc.all of which are among the top 10 world-renowned brands. The original A grade product is mainly mono crystalline and half cut cell solar modules, with a power range of 400watts to a maximum of 700watts.quality warranty is 25 years.
A grade, this type of film is characterized by a neat and uniform appearance, printed electrode grid lines, no broken grid, no surface stains, no leakage, no aluminum package, no hidden cracks, no scratches, no black core, no reverse current, stable electrical performance, and high conversion efficiency
Using solar cell testing equipment to measure and screen, the conversion efficiency, filling factor, and appearance that meet certain standards are first level. Generally, the conversion efficiency, filling factor, and appearance of first level are better than those of level B
The level of solar panels can be divided into first level, second level, third level, and fourth level, and the first level components can be divided into first level+and first level - two levels. The second level is also the same, and the cost difference between different levels of solar panels is also very large.
Chinese tier 1 brand solar panel
|
TIER 1 brand include
|
Longi, Jinko, Trina, JA, Canadian, znshine, etc.
|
|
quality warranty
|
25 years
|
|
grade
|
original A grade (each solar panel can be checked on official website with barcode)
|
|
power range
|
400watt to max 700watt
|
Tier 1 Solar Panel,Mono Solar Panel N Type,Solar Panels Bifacial 555 Watt,Solar Panel Mono Topcon Cell
PLIER(Suzhou) Photovoltaic Technology Co., Ltd. , https://www.pliersolar.com
