CN107182448A - A kind of cotton picking robot - Google Patents
A kind of cotton picking robot Download PDFInfo
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- CN107182448A CN107182448A CN201710444934.8A CN201710444934A CN107182448A CN 107182448 A CN107182448 A CN 107182448A CN 201710444934 A CN201710444934 A CN 201710444934A CN 107182448 A CN107182448 A CN 107182448A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of cotton picking robot, belong to agricultural machinery technological field.The robot realizes the unmanned harvesting overall process of cotton, and function includes autonomous and machine vision guiding cotton picking.The robot includes autonomous mobile platform, vision cotton-picker head, cotton collecting bin.Autonomous mobile platform carries out path planning and in real time guiding according to GPS information, according to vision and path is carried out to line sensor automatically and posture is adjusted in real time, platform stance and speed tracing are moved according to angular acceleration transducer and acceleration transducer information, returned when acquisition tasks complete or broken down or electricity, cotton collection weight reach limit value.Vision cotton-picker head Machine Vision Recognition Cotton Maturity and locus, cotton picking ingot are backed out cotton using rotation stretching mode, then vasculum of retracting, and are scraped cotton by brush cotton piece.Cotton under adopting is by wind model to the cotton collecting bin on autonomous mobile platform.
Description
Technical field
The present invention relates to a kind of cotton picking robot, more particularly to a kind of cotton picker of view-based access control model information belongs to agricultural
Field of mechanical technique.
Background technology
The cotton planting of China accounts for the 30% of world's cultivated area, and cotton picking has important economic value.Cotton is adopted
The receipts phase is general in September to October, and about 60 days, plucking requirement was：The cotton maturity period in same cotton field has successively, and general 5 to 7
It is adopted once；Good flower, stiff valve cotton, landing cotton are separately harvested, and classification is sold；Reduce impurity to be mixed into, improve unginned cotton quality.
Cotton picking mode is divided into artificial cotton picking and machine cotton picking two ways.The advantage of artificial cotton picking is net picking rate height, containing miscellaneous
Rate is low, and no particular/special requirement is planted to cotton plant, in irregular shape or out-of-flatness can also be plucked even if cotton field, it is not necessary to cotton field
Spray fallen leaves processing before being plucked, but labor intensity is big, the amount of labour used is more, efficiency is low, cost is high.
Machine cotton picking, which can be divided into, selects receipts formula and closed type cotton picker.Select receipts formula cotton picker be divided into the vertical cotton picker of the spindle type and
Horizontal spindle formula cotton picker, the former plucks ingot and is disposed vertically, and the use of the states such as the Uzbekistan of the Soviet Union is mainly belonged to originally, due to adopting
Net rate is low, does not popularize at home at present；The latter plucks ingot horizontal positioned, and the main manufacturer of the type cotton picker is the triumphant of the U.S.
This company, John deer company, net picking rate are high, and popularization is compared at home.Closed type cotton picker is divided into finger rod-type and comb-tooth-type, by
It is high in percentage of impurity, do not popularize at present.Document " the big-and-middle-sized cotton picker of China and cotton-picker head technical Analysis " (Yang Dongshan etc., tractor
With agricultural transportation vehicle, 2013,40 (2), 8-12) cotton picker present situation is analyzed；Patent " walking multiple finger-type cotton stripper certainly " is (specially
Profit CN102577753B) a kind of closed type cotton picker is proposed, capable harvesting is discharged into bar is referred to, passes through sorting device and clear miscellaneous dress
Put and select cotton.Patent " cotton-picker head and the broach with the cotton-picker head select receipts formula cotton picker " (patent No. CN104718885B)
A kind of comb-tooth-type cotton picker is proposed, cotton is adopted down by the broach on sprocket wheel.
The advantage of machine cotton picking is efficiency high, is had the disadvantage：There is strict demand to cotton plant plantation spacing；Net picking rate is not as artificial
Harvesting, every mu of ground is wasted in 30kg or so according to statistics；Percentage of impurity is high, selects receipts formula cotton picker percentage of impurity more than 10%, receipts formula of uniting
Cotton picker percentage of impurity is more than 30%；Needed before harvesting with the first disleave of liquid medicine, the cotton after harvesting is wanted just adopt after cleaning treatment
With.Therefore, current machine cotton picking in Chinese popularization rate than relatively low.
The content of the invention
The present invention primary and foremost purpose be：Overcome the shortcomings of artificial cotton picking and machine cotton picking at present, can both reach and manually adopt
The high net picking rate and low percentage of impurity plucked, can reach the high efficiency of machine cotton picking again, but without the limitation of current machine cotton picking,
Liquid medicine disleave etc. is carried out before such as having strict demand to cotton plant plantation spacing, carry out cotton picking operation.
Further aim of the present invention is：The unmanned of cotton picking process is realized, an operative employee can control many simultaneously
Platform cotton picking robot is operated, and can set the ripeness standard of cotton picking, according to the cotton processing maturation period in same cotton field,
Cotton is plucked in batches.
In order to solve the above-mentioned technical problem, the present invention uses following technical scheme：
A kind of robot for cotton picking, it is preferred that the system include autonomous mobile platform, vision cotton-picker head,
Cotton collecting bin.Autonomous mobile platform is according to cotton field geographical location information and cotton distributed intelligence, cotton plant boundary information in cotton field
Mobile, vision cotton-picker head carries out cotton picking in autonomous platform moving process under the visual information guiding that cotton picking camera is produced,
And guide the translational speed of autonomous mobile platform.Cotton under the collection of vision cotton-picker head is transported to cotton by air-flow transfer passage
Collecting bin.Judge dump energy to threshold values after the completion of default cotton picking task, or according to the information about power of battery management system
Afterwards, or according to cotton the collection cotton weight information for gathering weight sensor is determined after threshold values, or according to mobile platform
After the failure analysis module prompting failure of control module occurs, autonomous mobile platform is returned, and completes cotton picking process.
Above-mentioned autonomous mobile platform, it is preferred that mobile platform control module is provided with the vehicle body of the mobile platform,
To camera before being provided with GPS module, roof, ultrasonic wave is installed in the medial and lateral baffle plate of the grain lifter of vision cotton-picker head
Sensor, as to line sensor, angular acceleration transducer and acceleration transducer are provided with vehicle body automatically, is putting cotton
Weight sensor is installed in the bicycle beam of flower collecting bin, movable motor drive system and walking electricity are installed at chassis position
Machine, steering motor drive system and steering motor, battery management system and battery pack.Each main mould inter-block communication passes through CAN.
Vision cotton-picker head control module is communicated by CAN with mobile platform control module.Software function module in mobile platform
Including：GPS path traces module, cotton Density Distribution tracking module, cotton plant to line trace module, body gesture tracking module,
Vehicle body velocities tracking module, path planning module, motion planning module, cotton picking information module, motion-control module, accident analysis
The fast control module of module, work-based logic module, forward/backward control module, plus/minus, course changing control module.
Above-mentioned autonomous mobile platform, it is preferred that the mobile platform control module includes：Path planning module is according to user
The cotton field GPS geography information of inputting interface input carries out path planning, path trace module with according to GPS module produce it is real-time
GPS information is compared with path planning, produces path trace message, cotton Density Distribution tracking module is before to camera
The distribution proportion of the white Cotton information in cotton field collected in the picture, produces cotton Density Distribution information, cotton plant is to line trace
Module produces cotton plant to line trace information, motion rule with the energy intensity information according to the ultrasonic sound appratus for being arranged on cotton-picker head both sides
Module is drawn with moving platform motion planning to line trace information according to path trace message, cotton Density Distribution information, cotton plant.
Above-mentioned autonomous mobile platform, it is preferred that the target track that the platform control module is produced according to motion planning module
Mark, and angular acceleration transducer produce body gesture information and acceleration transducer produce vehicle body velocities tracking information,
And the cotton picking that vision cotton-picker head control module is produced completes information, motion-control module produces motion control instruction, and control is moved
It is dynamic it is flat it is forward/backward, plus/minus is fast, turn to.
Above-mentioned autonomous mobile platform, it is preferred that the failure analysis module in the mobile platform control module is according to each mould
The information that the communication disruption or module of block are sent exceeds limit value, and failure analysis module failure judgement occurs；Occurred according to failure
Information, and judge whether the task of path planning module completes, and judge the weight letter that cotton weight sensor is produced
Whether breath exceedes limit value, and whether the dump energy information that battery management system is produced transfinites value, mobile platform control module
In work-based logic module produce cotton picking robot terminate cotton picking return instruction.
Above-mentioned vision cotton-picker head, it is preferred that the acquisition system is made up of grain lifter, vasculum, and vasculum is provided with
It is multigroup to gather bar and multigroup cotton picking camera is installed, accordingly there are collection hole and observation window on the inside of vasculum；Do not work
When collection bar cotton picking spindle position in collection hole in, during work rotate stretch out；Cotton picking camera is arranged in camera cylinder, positioned at sight
Survey after window；There is a brush cotton piece position of each collection bar of correspondence in vasculum；During cotton picking, with the movement of mobile platform, help
Cotton plant is imported pickup area by standing grain device, and cotton picking camera group collection image, network analysis goes out the spatial coordinated information and color of cotton
Pool, size information, when the cotton for reaching standard of plucking is in the pickup area of some collection bar, corresponding cotton picking ingot is from collection
Hole rotation is stretched out, and is backed out cotton by the tooth on cotton picking ingot, then reversely rotates retraction collection hole, and brush cotton piece is by cotton in vasculum
Flower is scraped, and passes through air-flow transfer passage to cotton collecting bin.
Above-mentioned vision cotton-picker head, it is preferred that described collection bar includes collection bar motor and machine shaft, installed in adopting
Collect on rod shell, rotating shaft is provided with motor and turns cover；Motion is bolt and nut structure, and nut can be rotated around screw rod, on nut
Slide bar is fixed with, its chute that can turn along motor on cover parallel to screw axis is moved；Cotton picking ingot is fixed on nut, can be along shell
Bearing on body is rotated；During work, motor motor rotating shaft, drive motor turns cover and rotated, and slide bar is rotated and edge with cover is turned
Chute is moved, and nut does same movement, is driven the cotton picking ingot rotation being fixed thereon to stretch out or rotate and is retracted.
Above-mentioned vision cotton-picker head, it is preferred that have camera on the outside of the observation window of the vasculum of described vision cotton-picker head
Cleaning nozzle, is cleaned by blowing to observation window, and gas carrys out self-cleaning spray nozzle air supply channel.
Above-mentioned vision cotton-picker head, it is preferred that the control system of described vision cotton-picker head includes vision cotton picking and controls mould
Block, Vision information processing module, group of motors drive module, intermodule are communicated by CAN；Vision information processing module will be located
Cotton color, size after reason, positional information are dealt into bus；Group of motors driving realizes that motor is rotated and reverse；Vision cotton picking
The software function module of control module includes Cotton Maturity identification, the identification of cotton position, cotton picking control, motor control,
Size, the standard color for the ripe cotton that the Cotton Maturity identification module is inputted according to user interface, are detected with camera
To Cotton information be compared, identify whether to close standard of plucking, whether cotton location identification module judge cotton correspondence position
There is corresponding cotton picking bar, if so, harvesting control module produces harvesting instruction, motor control module is driving corresponding cotton picking bar motor just
Turn and invert.
Beneficial effects of the present invention, are mainly manifested in：Cotton picking is carried out using vision guide, can select to reach that user sets
The ripe cotton of standard is plucked；Cotton-picker head uses multigroup camera and multigroup cotton picking bar, can be simultaneously to entering cotton picking region
Many cottons plucked；Cotton picking bar uses rotatory and extending device, compact conformation, while realizing the flexible of cotton picking bar and adopting
Pluck；Using aeration cleaning, it is ensured that the cleaning of cotton-picker head Visual Observations Observations window；Employ GPS information, the cotton distribution density in cotton field
Information, cotton plant are to row information, cotton picking information to the mobile carry out motion planning of autonomous mobile platform and motion control, it is ensured that
Cotton-picker head carries out the effect of cotton picking；Employ fault message, route planning information, battery level information, cotton weight information
Independently to determine whether cotton picking robot terminates cotton picking return.
It is an advantage of the invention that：The ripe cotton of selection is plucked, can according to cotton in batches maturation the characteristics of, to same
Plucked in batches in one piece of cotton field；Multigroup collection bar, collecting efficiency is close to large-scale cotton picker；Vision guide is plucked, and is adopted
Net rate and percentage of impurity are plucked close to artificial；Unmanned operation, saves cost of labor, can be realized after operator is configured
Duo Tai robots are to the autonomous cotton picking in cotton field.
Brief description of the drawings
Fig. 1 is cotton picking robot schematic side view；
Fig. 2 is cotton picking robot schematic top plan view；
Fig. 3 is cotton-picker head schematic top plan view；
Fig. 4 for Fig. 3 cotton-picker heads A to schematic diagram；
Fig. 5 is the partial enlarged drawing B of Fig. 3 cotton-picker heads；
Fig. 6 is cotton picking bar structural representation；
Fig. 7 is cotton-picker head software function module figure；
Fig. 8 is mobile platform software function module figure；
Fig. 9 is cotton picking example process
Critical piece explanation in figure：
1st, autonomous mobile platform；10th, mobile platform control module；1110th, outside ultrasonic sensor；1111st, inner side surpasses
Sonic sensor；12nd, forward direction camera；13rd, blower fan；131st, air-flow transfer passage；14th, chassis；2nd, vision cotton-picker head；20th, adopt
Cotton head control module；21st, grain lifter；211st, grain lifter inner side baffle；212nd, the outer side shield of grain lifter；22nd, vasculum；23rd, adopt
Cotton camera；231st, observation window；232nd, camera cylinder；24th, bar is gathered；241st, hole is gathered；242nd, cotton picking ingot；243rd, spiral shell is gathered
Bar；244th, nut is gathered；245th, bar motor is gathered；2451st, bar machine shaft is gathered；2452nd, collection bar motor turns cover；2453、
Motor turns cover chute；246th, rod shell is gathered；247th, rod bearing is gathered；248th, slide bar；25th, brush cotton piece；26th, air-flow conveying is logical
Road；27th, camera cleaning nozzle；28th, cleaning nozzle air supply channel；29th, electric appliance box；3rd, cotton collecting bin
Embodiment
To make the purpose of the present invention, technical scheme, advantage understand in further detail, below in conjunction with instantiation, and with reference to attached
Figure, it is further to the present invention to describe in detail.
As shown in figure 1, cotton picking robot is made up of autonomous mobile platform 1, vision cotton-picker head 2, cotton collecting bin 3.
As shown in Figure 2 and Figure 8, mobile platform control module 10, GPS module are installed on the vehicle body of autonomous mobile platform
11, to camera 12 before being provided with roof, ultrasonic sensor 111 is installed in the outside of grain lifter 21, installed on vehicle body
There are angular acceleration transducer 151 and acceleration transducer 152, weight sensing is installed in the bicycle beam for putting cotton collecting bin 3
Device 17, movable motor drive system 18 and movable motor 181, the He of steering motor drive system 19 are provided with the position of chassis 14
Steering motor 191, wherein motor use servomotor, and driving is driven using servomotor, and battery management is also equipped with chassis
System 16 and battery pack 161.Chassis is highly 850mm or so.
As shown in figure 3, the acquisition system of vision cotton-picker head is made up of grain lifter 21, vasculum 22, vasculum 22 is provided with
Multigroup collection bar 24,3 is arranged, each column 20 totally.The cotton picking ingot 242 that boom end is gathered when not working is located in collection hole 241, in case
There is a brush cotton piece 25 position of each collection bar of correspondence.The thickness of grain lifter baffle plate is about 10mm, vasculum and flapper gap
About 80mm, vasculum space thickness is about 160mm, and the diameter of collection bar is about 15mm, and the external diameter of collection ingot is about 20mm, is adopted
Collect bore dia about 30mm, collection hole lowest part is about 45mm away from ground level, and highest point is about 100mm away from ground level.Collection
The motor of bar uses stepper motor.
Cotton picking robot can install a vision cotton-picker head, can also install two vision cotton-picker heads.When using a cotton picking
During head, the ultrasonic sensor 1110 and 1111 on grain lifter baffle plate is as automatic to line sensor；When using two
During cotton-picker head, the ultrasonic sensor on the outside of two grain lifter baffle plates is as automatically to line sensor.It is automatic when carrying out
When being gathered to row information, the ultrasonic sensor of both sides gathers the energy intensity of feedback signal, takes 0.5 second long time to be united
Meter, compares the difference of both sides energy intensity, and fuzzy diagnosis is carried out as input parameter, calculates confidence level, it is inclined that output is divided into position
Left, to the right and middle three class, when confidence level exceeds 0.8, it is believed that cotton plant is to the right, when confidence level is less than 0.2, it is believed that cotton plant is inclined
A left side, otherwise it is assumed that cotton plant is located in the middle of cotton picking region.
The cotton picking camera of vision cotton-picker head has two row, in the camera cylinder of vasculum, after observation window.See
Window diameter about 50mm is surveyed, material is glass, the distance of camera and observation window is about 30mm.Demarcate each with black and white colour table during installation
Camera space position, and camera and cotton picking ingot relative position.Before harvesting, operating personnel are by the qualified harvesting mark of cotton
Standard, includes the input vision cotton picking control module such as color and luster, size of cotton.During work, cotton plant enters cotton picking region, respectively takes the photograph
It is mutual according to two cameras when the image of a cotton is collected by two neighboring camera as head gathers image information
Locus, carries out spatial alternation calculating to image, obtains the real space coordinate value of cotton, and cotton actual size value.
By the identification to cotton color and size, system judges whether cotton reaches standard of plucking；If reaching standard of plucking, it is
The collection bar of system chosen distance recently, motor is rotated, and the rotation of cotton picking ingot is stretched out, and by the tooth on cotton picking ingot, cotton is tangled, together
When cotton is backed out by rotating, then rotate retraction vasculum；, there is brush cotton piece collection hole side in vasculum, its shape with
The tooth form of cotton picking ingot is engaged, when cotton picking ingot rotates, and brush cotton piece relative motion, by under cotton brush；There is air-flow in vasculum
Cotton is sucked cotton collecting bin 3 by transfer passage, the negative pressure produced by blower fan 13.It is provided with the outside of the observation window of camera
Cleaning nozzle, in the course of the work, aeration cleaning observation window prevent window from influenceing camera collection image because of pollution.Cleaning
Blower fan of the gas of nozzle from autonomous mobile platform, is imported by the air supply channel 28 of cleaning nozzle.
During work, operative employee needs that the GPS geography information in cotton field is inputted into autonomous shifting by user input interface 101 in advance
The control module 10 of moving platform, is shown in Fig. 8, and the area of default cotton picking.The GPS geography information in cotton field can be gathered with various ways,
GPS module such as in cotton planting on farming machine, can also be carried out by operative employee with hand-held GPS positioner
GPS geographical information collections.GPS module, the definable mobile platform GPS location of itself are installed on cotton picker.System is according to shifting
The position of moving platform and the position in cotton field, by path most short principle be planned for the path in cotton field.In moving process, according to vehicle body
Motion track and the information of angular acceleration transducer 151 on a mobile platform is installed, it may be determined that the posture of vehicle body；According to car
The posture of body and the geographic shape information in cotton field, mobile platform control steering motor in motion process, arrive cotton picking robot
Up to cotton by when, direction of advance aligns the cotton field edge of geographical coordinate.Reach behind cotton field, forward direction camera collection cotton field image leads to
Color difference analysis is crossed, cotton distribution density is counted, the two-dimensional signal of cotton distribution density, the GPS with cotton field shape is produced
Geography information is compared, and mobile platform adjusts the posture of itself accordingly, makes edge of the mobile collection direction just to cotton field.Cotton picking
When, the ultrasonic sensor on grain lifter baffle plate realizes the automatic function to line sensor, by the ultrasound for detecting feedback
Ripple signal energy intensity, cotton-picker head is sent in bus to capable degree information, and system is according to mobile flat to row information regulation
The posture of platform.Whether cotton picking information is dealt into bus by vision cotton-picker head control module 20, point out Cotton Images collection clear, and
The progress of cotton picking, mobile platform control module 10 is according to this information, and acceleration transducer 152 on vehicle body
Vehicle body acceleration and deceleration information, controls vehicle body translational speed.According to GPS information, and forward direction visual information, system detectio cotton picking robot
Whether the cotton field end is reached, if reaching, mobile platform control module 10 sends steering order, and control steering motor rotates, makes to adopt
Cotton robot turns, and continues to pluck.
As shown in figure 8, faulty analysis module in mobile platform control module 10, according to each module in setting time length
Inside whether there is information transfer, and whether the information of transmission exceeds limit value, to judge whether faulty generation.When an error occurs,
Work-based logic module in module produces return instruction.In mobile platform, correspondence is installed on the following beam of cotton picking collecting bin, peace
Equipped with cotton weight sensor 17, when cotton weight exceeds limit value, the work-based logic module in module produces return instruction.
Battery management system 16 in mobile platform chassis, monitors the electricity of battery pack, when electricity surplus value is less than limit value, module
Interior work-based logic module produces return instruction.In addition, when default cotton picking area is completed, the work-based logic module in module
Produce return instruction.
Operating process is as shown in figure 9, comprise the following steps：
Step ES1：Cotton is gathered standard (color and luster, size) and inputs cotton picking robot by operator；
Step ES2：Operator holds hand-held GPS positioner collection cotton field geographical location information；
Step ES3：The cotton field geography information of collection is inputted robot by operator；
Step ES4：Robot is to cotton field side, if finding cotton, cotton picking moves ahead；
Step ES5：If robot arrives the cotton field end, turn, otherwise return step ES4；
Step ES6：If robot acquisition tasks are completed, or cotton picking bin area is full, or electricity is few, or breaks down, machine
People returns to default destination.
Although the present invention is disclosed above with preferred embodiment, so it is not limited to the present invention.Skill belonging to of the invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, the scope of protection of the present invention is defined by those of the claims.
Claims (9)
1. a kind of robot for cotton picking, it is characterised in that：System includes autonomous mobile platform (1), vision cotton-picker head
(2), cotton collecting bin (3).Autonomous mobile platform (1) is according to cotton field geographical location information and cotton distributed intelligence, cotton plant border
Information is moved in cotton field, and vision cotton-picker head (2) is in autonomous platform (1) moving process, in regarding that cotton picking camera (23) is produced
Feel and carry out cotton picking under information guidance, and guide the translational speed of autonomous mobile platform.Cotton under vision cotton-picker head (2) collection is led to
Cross air-flow transfer passage (26) (131) and be transported to cotton collecting bin (3).After the completion of default cotton picking task, or according to battery
The information about power of management system (16) judges dump energy to after threshold values, or gathers adopting for weight sensor (17) according to cotton
Collection cotton weight information is determined after threshold values, or points out failure according to the failure analysis module of mobile platform control module (10)
After generation, autonomous mobile platform (1) is returned, and completes cotton picking process.
2. autonomous mobile platform (1) according to claim 1, it is characterised in that：Shifting is installed on the vehicle body of mobile platform
To camera (12) before being provided with moving platform control module (10), GPS module (11), roof, in helping for vision cotton-picker head (2)
The medial and lateral baffle plate of standing grain device (21) is provided with ultrasonic sensor (111), as automatically to line sensor, is installed on vehicle body
There are angular acceleration transducer (151) and acceleration transducer (152), weight is installed in the bicycle beam for putting cotton collecting bin (3)
Quantity sensor (17), movable motor drive system (18) and movable motor (181) are provided with chassis position, and steering motor is driven
Dynamic system (19) and steering motor (191), battery management system (16) and battery pack (161).Each main mould inter-block communication passes through CAN
Bus.Vision cotton-picker head control module (20) is communicated by CAN with mobile platform control module (10).Mobile platform (10)
Interior software function module includes：GPS path traces module, cotton Density Distribution tracking module, cotton plant are to line trace module, car
Figure state tracking module, vehicle body velocities tracking module, path planning module, motion planning module, cotton picking information module, motion control
The fast control module of molding block, failure analysis module, work-based logic module, forward/backward control module, plus/minus, course changing control mould
Block.
3. mobile platform control module (10) according to claim 2, it is characterised in that：Path planning module is according to user
The cotton field GPS geography information of inputting interface (101) input carries out path planning, and path trace module according to GPS module (11) with producing
Raw real time GPS information is compared with path planning, produces path trace message, cotton Density Distribution tracking module is before
The distribution proportion of the white Cotton information in cotton field collected to camera (12) in the picture, produces cotton Density Distribution information,
Cotton plant, with the energy intensity information according to the ultrasonic sound appratus (111) for being arranged on cotton-picker head both sides, produces cotton plant pair to line trace module
Line trace information, motion planning module according to path trace message, cotton Density Distribution information, cotton plant to line trace information with carrying out
Mobile platform motion planning.
4. mobile platform control module (20) according to claim 2, it is characterised in that：Produced according to motion planning module
Target trajectory, and angular acceleration transducer (14) produce body gesture information and acceleration transducer (15) produce car
Body speed tracing information, and the cotton picking that vision cotton-picker head control module (20) is produced complete information, and motion-control module is produced
Motion control instruction, control it is mobile it is flat it is forward/backward, plus/minus is fast, turn to.
5. autonomous mobile platform (1) according to claim 2, it is characterised in that：In mobile platform control module (10)
The information that failure analysis module is sent according to the communication disruption or module of each module exceeds limit value, and failure analysis module judges event
Barrier occurs；The information occurred according to failure, and judge whether the task of path planning module completes, and judge cotton weight
Whether the weight information that sensor (17) is produced exceedes limit value, and the dump energy information that battery management system (16) is produced is
Work-based logic module in the no value that transfinites, mobile platform control module (10) produces cotton picking robot and terminates cotton picking return instruction.
6. vision cotton-picker head (2) according to claim 1, it is characterised in that：Acquisition system is by grain lifter (21), vasculum
(22) constitute, vasculum (22) is provided with multigroup collection bar and (24) and is provided with multigroup cotton picking camera (23), accordingly
There are collection hole (241) and observation window (231) on the inside of vasculum；The cotton picking ingot (242) that bar (24) is gathered when not working is located at collection
Rotate and stretch out in hole (241), during work；Cotton picking camera (23) is arranged in camera cylinder (232), positioned at observation window (231)
Afterwards；There is a brush cotton piece (25) position of each collection bar of correspondence in vasculum；During cotton picking, with the movement of mobile platform, help
Cotton plant is imported pickup area by standing grain device (21), and cotton picking camera group (23) collection image, network analysis goes out the space coordinate of cotton
Information and color and luster, size information, it is corresponding when the cotton for reaching standard of plucking is in the pickup area of some collection bar (24)
Cotton picking ingot (242) stretches out from collection hole (241) rotation, backs out cotton by the tooth on cotton picking ingot, then reversely rotates retraction and adopts
Collect hole (241), brush cotton piece (25) scrapes cotton in vasculum, cotton collecting bin (3) is arrived by air-flow transfer passage (26).
7. collection bar (24) according to claim 6, it is characterised in that：Gather bar motor (245) and machine shaft
(2451) it is arranged on collection rod shell (246), rotating shaft (2451) is provided with motor and turns cover (2452)；Motion is screw rod
(243) nut (244) structure, nut (244) can be rotated around screw rod (243), slide bar (244) is fixed with nut, it can be along electricity
The chute (2453) that machine turns on cover (2452) parallel to screw rod (243) axis is mobile；Cotton picking ingot (242) is fixed on nut (244)
On, it can be rotated along the bearing (247) on housing (246)；During work, motor (245) motor rotating shaft (2451), drive motor
Turn cover (2452) to rotate, slide bar (244) is rotated and is moved along chute with turning to cover, nut does same movement, drive is fixed on it
On cotton picking ingot rotation stretch out or rotation retract.
8. vision cotton-picker head (2) according to claim 6, it is characterised in that：On the outside of the observation window (231) of vasculum (22)
There is camera cleaning nozzle (27), observation window is cleaned by blowing, gas carrys out self-cleaning spray nozzle air supply channel (28).
9. vision cotton-picker head according to claim 6, it is characterised in that：Control system includes vision cotton picking control module
(20), Vision information processing module (230), group of motors drive module (240), intermodule is communicated by CAN；Visual information
Cotton color after processing, size, positional information are dealt into bus by processing module (230)；Electricity is realized in group of motors driving (240)
Machine is rotated and reverse；The software function module of vision cotton picking control module (20), which includes Cotton Maturity identification, cotton position, to be known
Not, cotton picking control, motor control, the ripe cotton that the Cotton Maturity identification module is inputted according to user interface it is big
Small, standard color, is compared with the Cotton information that camera is detected, and identifies whether to close standard of plucking, the identification of cotton position
Module judges whether cotton correspondence position has corresponding cotton picking bar, if so, harvesting control module produces harvesting instruction, motor control mould
Block drives rotating and reverse for corresponding cotton picking bar motor.
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| CN108908349A (en) * | 2018-10-05 | 2018-11-30 | 西北农林科技大学 | A kind of picking robot chassis control system |
| CN110583241A (en) * | 2019-09-24 | 2019-12-20 | 江苏大学 | Flight type walnut picking device |
| CN110979867A (en) * | 2019-12-16 | 2020-04-10 | 呼伦贝尔市蒙拓农机科技股份有限公司 | Traction type intelligent cotton packing control method and system |
| CN111758397A (en) * | 2020-07-21 | 2020-10-13 | 四川省机械研究设计院 | Device is picked to prickly ash intelligence based on visual identification |
| CN112162553A (en) * | 2020-09-22 | 2021-01-01 | 上海大学 | Automatic row alignment control system and method for cotton picker |
| CN112379632A (en) * | 2020-10-29 | 2021-02-19 | 石河子大学 | Monitoring system for cotton picker |
| CN113812262A (en) * | 2021-09-10 | 2021-12-21 | 中以集知(广州)科技有限公司 | Tea-oil camellia fruit picking robot based on machine vision |
| CN114260894A (en) * | 2021-12-22 | 2022-04-01 | 上海科技大学 | Full-automatic cotton picking robot and control method |
| CN114489113A (en) * | 2021-12-15 | 2022-05-13 | 北京市农林科学院智能装备技术研究中心 | Castration unmanned aerial vehicle control method and system |
| CN114675659A (en) * | 2022-05-28 | 2022-06-28 | 广州市盛望信息科技有限公司 | Agricultural robot motion control method and system |
| CN115380714A (en) * | 2022-09-20 | 2022-11-25 | 浙江工业大学之江学院 | Robot for cotton picking |
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| CN113812262A (en) * | 2021-09-10 | 2021-12-21 | 中以集知(广州)科技有限公司 | Tea-oil camellia fruit picking robot based on machine vision |
| CN113812262B (en) * | 2021-09-10 | 2022-08-12 | 中以集知(广州)科技有限公司 | Tea-oil camellia fruit picking robot based on machine vision |
| CN114489113A (en) * | 2021-12-15 | 2022-05-13 | 北京市农林科学院智能装备技术研究中心 | Castration unmanned aerial vehicle control method and system |
| CN114489113B (en) * | 2021-12-15 | 2024-02-23 | 北京市农林科学院智能装备技术研究中心 | Emasculation unmanned aerial vehicle control method and system |
| CN114260894A (en) * | 2021-12-22 | 2022-04-01 | 上海科技大学 | Full-automatic cotton picking robot and control method |
| CN114675659A (en) * | 2022-05-28 | 2022-06-28 | 广州市盛望信息科技有限公司 | Agricultural robot motion control method and system |
| CN115380714A (en) * | 2022-09-20 | 2022-11-25 | 浙江工业大学之江学院 | Robot for cotton picking |
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