CN114271097A - Control system and control method of safflower picking robot - Google Patents
Control system and control method of safflower picking robot Download PDFInfo
- Publication number
- CN114271097A CN114271097A CN202111087539.1A CN202111087539A CN114271097A CN 114271097 A CN114271097 A CN 114271097A CN 202111087539 A CN202111087539 A CN 202111087539A CN 114271097 A CN114271097 A CN 114271097A
- Authority
- CN
- China
- Prior art keywords
- safflower
- picking
- motion
- platform
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of automatic picking equipment, and particularly relates to a control system and a control method of a safflower picking robot. The bottom of the motion platform in the control system is connected with walking equipment through a telescopic device. The fixed end of the picking device is connected to the bottom of the moving platform. The motion platform is provided with a main control module, a navigation module, a visual positioning module and a motion control module. And the master controller in the master control module is connected with the scheduling system through the access antenna. The main controller receives the command of the dispatching system, calculates a picking path according to the position information of the motion platform transmitted by the navigation module and the spatial position information of the safflower acquired by the visual positioning module, and sends a motion command to the motion control module. The control system realizes the autonomous picking of the safflower in the field, adapts to the picking and collecting operation of the safflower in a complex field environment, optimizes the positioning speed and the positioning precision, greatly improves the picking efficiency of the safflower and meets the requirement of large-scale automatic picking of the safflower.
Description
Technical Field
The invention relates to the technical field of automatic picking equipment, in particular to a control system and a control method of a safflower picking robot.
Background
The safflower is also called as the safflower, is a special economic crop integrating medicinal use and oil plants, and has the effects of activating blood circulation, stimulating the menstrual flow, dissipating blood stasis and relieving pain. With the development of the medical and health care functions of safflower, the development of safflower series products has wide market prospect. Due to the characteristic that flowers and bulbs of safflower bloom in multiple batches, uneven growth postures, uneven stem heights, uneven distribution of the flowers and bulbs and the like, the harvesting machine cannot realize accurate, rapid and automatic picking, and still needs a large amount of manpower to finish the picking operation of the safflower. As such, research needs to be conducted on the automated picking of safflower.
Through retrieval, chinese patent document CN107637279A discloses a safflower picking robot, which comprises a walking device, an image collecting device, a picking device, a filament collecting device, a power device and a control device. The running gear is a crawler-type travelling trolley. The image acquisition device is arranged at the rear end part of the walking device and comprises a camera support and a binocular camera on the support. The picking device is a six-degree-of-freedom picking mechanical arm arranged at the middle position of the advancing device, and a stepping motor arranged at each movable arm joint. The filament collecting device comprises a filament conveying hose, a filament collecting box, a filter screen, a fan and a fan housing, wherein the filament collecting box is connected with a tail end picking head in the picking device through the filament conveying hose and fixedly arranged at the front end of the walking device through bolt connection. The power device and the control device are both arranged at the bottom of the traveling device.
Though, above-mentioned safflower picking robot has realized the automatic identification, has picked and has collected safflower, and whole journey need not artifical the participation, has reduced picking personnel's working strength. However, the safflower planting modes are various, the distribution of flower balls is not regular, and the picking mechanical arm of the safflower picking robot needs to repeatedly adjust the position and the posture to ensure the picking precision of the picking device, so that the picking efficiency of the safflower is greatly reduced, and the requirement of large-scale automatic safflower picking is difficult to meet.
For another example, chinese patent document CN110558048A discloses a saffron reverse butt-joint air-suction fully-open self-positioning flexible filament peeling robot. The filament stripping robot comprises a reverse butt joint type gathering and closing saffron crocus pneumatic adsorption angle variable flexible forced full-opening mechanism, an elastic telescopic flexible fastening pulling self-positioning type filament stripping mechanism, a self-overturning flower stem wrapping flexible clamping picking mechanism and an inclined climbing progressive type dislocation conveying self-sorting precise screening mechanism. This filament stripping robot draws with the flexibility through forced full-open and realizes that the filament is harmless to be peeled off entirely, guarantees the filament quality and gathers machining efficiency in grades to the filament stoving in real time, utilizes the point to touch from crawling extrusion moving mechanism of preventing to overcome and cause the extrusion destruction to the plant.
Though, above-mentioned filament is peeled off robot has avoided the extrusion of manual work when picking to the saffron crocus plant and has destroyed, has improved the efficiency of processing of gathering. However, safflower and saffron do not belong to one family, and the medicinal parts of the safflower and saffron are different, so that the upper filament peeling robot is difficult to be applied to the automatic picking of safflower in the picking process.
At present, the mechanical safflower filament picking machine mainly comprises a hand-held or backpack picking machine with air suction, air force, comb tooth type, double-roller type and shearing type, the efficiency is still low, the popularization and application difficulty is high, and the requirement of people on mechanical safflower filament picking is still difficult to meet.
For another example, chinese patent document CN111955165A discloses a self-propelled full-coverage multi-target safflower filament picking robot. The safflower filament picking robot comprises a picking manipulator guide frame, a walking device, a filament collecting system and a multi-information fusion filament positioning navigation recognition system. The four walking devices are fixedly connected to four corners of the horizontally arranged rectangular picking manipulator guide frame respectively in a height-adjustable manner. The filament collecting system is fixedly connected above the guide frame of the picking manipulator. The multi-information fusion filament positioning navigation recognition system is fixedly connected to the front end of the picking manipulator guide frame. The picking manipulator guide frame comprises a left support frame, a right support frame, a front support frame, a rear support frame, a guide rail support frame, a picking manipulator single body, a horizontal moving rack and a horizontal moving guide rail. The device divides the safflower fruit net into the region, carries out the cover formula to pick to whole safflower, avoids leaking and plucks the filament to reduce the hourglass rate of plucking of safflower picking robot, reach the purpose that improves the robot and pick efficiency.
Although the safflower filament picking robot reduces the missing picking rate of the safflower to a certain extent, the picking efficiency of the safflower is still difficult to meet the requirement. For example, in a complex field environment, the safflower filament picking robot has difficulty in quickly ascertaining the spatial position information of the safflower filaments, and the selection of the whole picking path and the implementation of the picking process still need to be further optimized.
In summary, in the process of the research on the automatic picking of the safflower, how to design an automatic picking device to adapt to the operation of picking and collecting the safflower in a complex field environment, improve the positioning accuracy of the spatial position of the safflower, and further reduce the loss of the safflower in the picking process, thereby further improving the picking efficiency of the safflower becomes a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide automatic picking equipment for the safflower automatic picking research process, which is suitable for carrying out safflower picking and collecting operation in a complex field environment, improves the positioning precision of the spatial position of the safflower, further reduces the loss of the safflower in the picking process, and further improves the safflower picking efficiency.
According to an aspect of the invention: the safflower picking robot control system comprises a motion platform and a picking device;
the bottom of the motion platform is connected with walking equipment through a telescopic device, the fixed end of the picking device is connected to the bottom of the motion platform, and a main control module, a navigation module, a visual positioning module and a motion control module are arranged on the motion platform;
the main control module comprises an access antenna and a main controller, the main controller is connected with the dispatching system through the access antenna, and is used for receiving an instruction of the dispatching system, calculating a picking path according to the position information of the motion platform transmitted by the navigation module and the spatial position information of the safflower acquired by the visual positioning module, and sending a motion instruction to the motion control module;
the navigation module is used for receiving satellite transmission information, carrying out differential processing with a base station to obtain real-time longitude and latitude information of the motion platform, and obtaining position information of the motion platform by combining attitude information obtained by a sensor loaded on the motion platform, and the navigation module transmits the position information of the motion platform to the main controller;
the visual positioning module obtains a depth point cloud picture of a picking area through a binocular camera, and analyzes and processes the depth point cloud picture to obtain safflower spatial position information;
the motion control module is used for receiving a motion instruction sent by the main controller and decomposing the motion instruction into a first motion instruction and a second motion instruction, the motion control module comprises a platform controller and a picking hand controller, the platform controller drives the telescopic device to adjust the pose state of the motion platform according to the first motion instruction and drives the walking equipment to be close to a safflower plant along a picking path, and the picking hand controller guides the picking device to implement safflower picking operation according to the second motion instruction.
Preferably, the picking device comprises mechanical arms and picking hands with shearing blades, the picking hands are connected with the bottom of the moving platform through the mechanical arms, the mechanical arms form a parallel moving mechanism, and the control ends of the mechanical arms are connected with the picking controller. So set up, parallelly connected arm structure is adapted to implement high-speed harvesting to the safflower in limited picking space, has improved the picking efficiency of safflower greatly, and simultaneously, parallelly connected arm structure repeated positioning accuracy is high, is favorable to further reducing the accidental injury of shearing blade to the safflower to the yields of safflower picking has been improved.
Preferably, the walking equipment comprises walking wheels and driving wheels, the walking wheels and the driving wheels are connected with the telescopic device through supporting seats, and the driving wheels are connected with the power device through transmission structures. So set up, be favorable to improving the flexibility that motion platform removed between the ridge, avoided motion platform to take place in the condition that the field topples, and then guaranteed the stability of safflower picking robot control system at the picking in-process.
Preferably, the sensors include a tilt sensor and an ultrasonic sensor, the tilt sensor is disposed on a bottom plane of the motion platform, and the ultrasonic sensor is disposed on a sidewall of the motion platform. So set up, inclination sensor is used for acquireing motion platform's gesture information as inertial navigation unit, and then detects motion platform's bottom plane and the contained angle on field ground to make the platform controller drive telescoping device adjustment motion platform and field ground according to contained angle value and keep parallel, ultrasonic sensor installs on motion platform's lateral wall, be used for initiatively surveying motion platform peripheral obstacle, be used for guaranteeing that running gear does not have the barrier on the route of advancing, play supplementary correction suggestion effect to the route of advancing.
Preferably, the binocular camera is connected with the motion platform through the camera adjusting platform, the camera adjusting platform is provided with an adjusting motor for rotating the binocular camera, and a control end of the adjusting motor is connected with the visual positioning module. So set up, the visual positioning module of being convenient for can more accurately obtain the degree of depth cloud point picture of picking the region, and then guarantee the precision that the safflower was picked, simultaneously, be favorable to main control unit to plan the picking route better, for example, when the motion platform removed the end of field ridge and need turn to, the rotation of adjustment motor drive binocular motor is convenient for obtain more intercrossing image information.
Preferably, picking device still is provided with safflower conveyor, and safflower conveyor includes fan and storage compartment, and the storage compartment is sent the pipe through the wind and is linked to each other with picking device's discharge end, and the fan is located the storage compartment and provides the negative pressure for wind pipe transport safflower. So set up, improve the collection rate that the safflower was picked, avoided the safflower to scatter at the picking in-process.
According to another aspect of the present invention, a control method using the control system of the safflower picking robot is provided, which includes the following steps:
the method comprises the steps that firstly, a control system of the safflower picking robot is initialized, after the initialization is completed, a main controller receives a scheduling instruction sent by the scheduling system, walking equipment drives a motion platform to a designated area according to the scheduling instruction, a vision positioning module controls a binocular camera to rotate, so that a camera lens points to the advancing direction of the motion platform to obtain field ridge image information, and the main controller calculates a picking path according to motion platform position information transmitted by a navigation module and safflower space position information obtained by the vision positioning module;
secondly, the walking device is close to a safflower plant along the picking path, the vision positioning module controls the binocular camera to rotate, so that the camera lens points to the ground to obtain the position information of a flower ball of the safflower, the vision positioning module stops advancing after detecting mature safflower, the main controller sends a motion instruction to the motion control module according to longitude and latitude information obtained by the navigation module and attitude information of the motion platform obtained by the sensor, the motion control module decomposes the motion instruction into a first motion instruction and a second motion instruction, and the platform controller drives the telescopic device to adjust the motion platform to be parallel to the ground according to the first motion instruction;
and step three, after the leveling of the motion platform is finished, the picking hand controller guides the picking device to carry out the safflower picking operation according to a second motion instruction until the safflower picking in the area is finished.
Preferably, the control method of the control system of the safflower picking robot further comprises the fourth step of:
after the safflower picking is finished, the walking equipment continues to move forwards for a certain distance, and the positioning, leveling and picking processes are repeated until the safflower picking of one ridge is finished.
Preferably, the control method of the control system of the safflower picking robot further comprises the following steps:
and the main controller guides the walking equipment to drive the moving platform to move in a line according to the image information between the ridges obtained by the visual positioning module, enters the next safflower ridge, and repeats the navigation, the advancing, the posture adjustment, the moving platform leveling, the safflower identification, the safflower positioning and the safflower picking process until the scheduling instruction is finished.
Preferably, in the third step of the control method of the safflower picking robot control system, the safflower picked by the picking device is collected by the safflower conveying device.
Compared with the prior art, the control system and the control method of the safflower picking robot provided by the invention have the following prominent substantive characteristics and remarkable progress:
1. the main control module in the control system of the safflower picking robot receives the instruction of the dispatching system, and calculates a safflower picking path by combining the posture information and the position information of the motion platform acquired by the navigation module and the space position information of the safflower acquired by the visual positioning module, so that the safflower is picked autonomously in the field, the safflower picking and collecting operation is carried out under the complex field environment, and the safflower picking efficiency is greatly improved;
2. the visual positioning module in the safflower picking robot control system accurately positions the safflower by using the binocular camera, so that a stereoscopic image of the safflower in a picking area can be conveniently obtained, a picking device can be favorably used for accurately picking the safflower under the guidance of the picking hand controller, and the loss of the safflower in the picking process is greatly reduced;
3. the moving platform of the control system of the safflower picking robot is connected with the walking equipment through the telescopic device, so that the moving platform and the field ridge ground are always kept parallel in the safflower picking process, the positioning speed of the visual positioning module is favorably optimized, the picking motion track of the picking device is further optimized, and the safflower picking efficiency is further improved;
4. the main operation information of the control system of the safflower picking robot can be sent to the dispatching system in real time, so that the man-machine interaction capability is improved;
5. according to the control method of the safflower picking robot control system, before the safflower is picked, the leveling step is carried out on the moving platform, so that the positioning difficulty of the visual positioning module is greatly reduced, the positioning speed for the safflower is optimized, the picking efficiency of the safflower is further improved, and the popularization and application of the safflower picking robot control system in a large-scale safflower automatic picking application scene are facilitated.
Drawings
Fig. 1 is a schematic perspective view of a control system of a safflower picking robot in an embodiment of the present invention;
FIG. 2 is a connection block diagram of a control system of the safflower picking robot;
fig. 3 is a flow chart of the operation of the safflower picking robot control system for picking.
Reference numerals: the device comprises an electric control cabinet 1, an access antenna 2, a parallel mechanical arm 3, a navigation antenna 4, an inertial navigation unit 5, an ultrasonic sensor 6, a display screen 7, a stay wire sensor 8, an electric push rod 9, a traveling wheel 10, a wind conveying pipe 11, a picking device 12, a driving wheel 13, a transmission structure 14 and a binocular camera 15.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
A safflower picking robot control system as shown in fig. 1-2, which is adapted to carry out the picking and collecting operation of safflower in a complex field environment. The control system of the safflower picking robot receives the instructions of the dispatching system through the main control module, combines the attitude information and the position information of the motion platform acquired by the navigation module and the space position information of the safflower acquired by the visual positioning module, calculates a safflower picking path, realizes the autonomous picking of the safflower in the field, adapts to the picking and collecting operation of the safflower in a complex field environment, and greatly improves the picking efficiency of the safflower.
As shown in fig. 1, a safflower picking robot control system includes a motion platform and a picking device 12. The bottom of the motion platform is connected with a walking device through a telescopic device. The fixed end of the picking device 12 is connected to the bottom of the moving platform. The motion platform is provided with a main control module, a navigation module, a visual positioning module and a motion control module. For example, an electric control cabinet 1 is arranged on the motion platform. The main control module, the navigation module, the visual positioning module and the motion control module can be integrated in the electric control cabinet 1. The electric control cabinet 1 is used for protecting each control module inside the electric control cabinet.
The main control module comprises an access antenna 2 and a main controller. As shown in fig. 2, the main controller is connected to the scheduling system via an access antenna 2. The main controller is used for receiving the instructions of the dispatching system, calculating a picking path according to the position information of the motion platform transmitted by the navigation module and the spatial position information of the safflower acquired by the visual positioning module, and sending motion instructions to the motion control module. Main operation information of the control system of the safflower picking robot can be sent to the dispatching system in real time, and the man-machine interaction capacity is improved. As shown in fig. 1, the electric control cabinet 1 is further provided with a display screen 7. The display screen 7 is used for displaying main operation information of the control system in real time, and the man-machine interaction capability of the control system is further improved.
The navigation module is used for receiving satellite transmission information, carrying out differential processing with the base station to obtain real-time longitude and latitude information of the motion platform, obtaining position information of the motion platform by combining attitude information obtained by a sensor loaded on the motion platform, and transmitting the position information of the motion platform to the main controller. Wherein the navigation module receives satellite transmission information via the navigation antenna 4.
The vision positioning module obtains a depth point cloud image of the picking area through the binocular camera 15. And the visual positioning module analyzes and processes the depth point cloud picture to obtain the spatial position information of the safflower.
The motion control module is used for receiving a motion instruction sent by the main controller and decomposing the motion instruction into a first motion instruction and a second motion instruction. As shown in fig. 2, the motion control module includes a platform controller and a picking hand controller. The platform controller drives the telescopic device to adjust the pose state of the moving platform according to the first moving instruction, and drives the walking equipment to be close to the safflower plants along the picking path. Picking hand controller directs picking device 12 to perform a safflower picking operation according to the second motion command.
The picking device 12 comprises mechanical arms and picking hands with shearing blades, the picking hands are connected with the bottom of the moving platform through the mechanical arms, the mechanical arms form a parallel moving mechanism, and the control ends of the mechanical arms are connected with a picking controller. So set up, the 3 structures of parallelly connected arm are adapted to implement high-speed harvesting to the safflower in limited picking space, have improved the picking efficiency of safflower greatly, and simultaneously, 3 structures of parallelly connected arm are repeated positioning accuracy high, are favorable to further reducing the accidental injury of shearing blade to the safflower to the yields of safflower picking has been improved.
As shown in fig. 1, the traveling apparatus includes traveling wheels 10 and driving wheels 13. The walking wheels 10 and the driving wheels 13 are connected with a telescopic device through a supporting seat. The driving wheel 13 is connected to the power unit via a transmission 14. So set up, be favorable to improving the flexibility that motion platform removed between the ridge, avoided motion platform to take place in the condition that the field topples, and then guaranteed the stability of safflower picking robot control system at the picking in-process. Wherein, the power device can select a servo control motor. The transmission structure 14 can be a gear chain transmission structure, and the output torque of the servo control motor is transmitted to the driving wheel 13 through the gear chain transmission structure.
The sensors include a tilt sensor and an ultrasonic sensor 6. The tilt sensor is placed on the bottom plane of the motion platform. The ultrasonic sensor 6 is placed on the side wall of the motion platform. So set up, inclination sensor is used for acquireing motion platform's gesture information as inertial navigation unit 5, and then detects the contained angle of motion platform's bottom plane and field ground to make the platform controller drive telescoping device according to contained angle value and adjust motion platform and field ground and keep parallel. The ultrasonic sensor 6 is arranged on the side wall of the motion platform and used for actively detecting obstacles around the motion platform and ensuring that the walking mechanism has no obstacle on the advancing route, thereby playing a role in assisting correction and prompting the advancing route.
For example, the telescopic device can be selected from an electric push rod 9. Due to the fact that the terrain of the field fluctuates, the motion control module monitors the inclination angle state of the motion platform through the monitoring inclination angle sensor and controls the four electric push rods 9 to stretch and retract so as to keep the motion platform parallel to the ground in real time. In order to further ensure the leveling precision of the motion platform, a stay wire sensor 8 is arranged between the motion platform and the supporting seat. The stay wire sensor 8 is used for measuring the distance value between the motion platform and the supporting seat. The stretching amount of the electric push rod 9 is further measured according to the distance value measured by the stay wire sensor 8, so that negative feedback is provided for the platform controller. Meanwhile, the ultrasonic sensor 6 actively detects obstacles around the motion platform in real time and corrects the traveling route.
As shown in fig. 1, the binocular camera 15 is connected to the moving platform through a camera adjusting platform. An adjusting motor for rotating the binocular camera 15 is arranged on the camera adjusting platform. The control end of the adjusting motor is connected with the vision positioning module. So set up, the visual positioning module of being convenient for can more accurately obtain the degree of depth cloud point picture of picking the region, and then guarantee the precision that the safflower was picked, simultaneously, be favorable to main control unit to plan the picking route better, for example, when the motion platform removed the end of field ridge and need turn to, the rotation of adjustment motor drive binocular motor is convenient for obtain more intercrossing image information.
The picking device 12 is also provided with a safflower delivery device. The safflower conveyor includes fan and storage compartment. The material storage chamber is connected with the discharge end of the picking device 12 through a pneumatic conveying pipe 11. The fan is located in the storage chamber and provides negative pressure for the pneumatic conveying pipe 11 to convey the safflower. So set up, improve the collection rate that the safflower was picked, avoided the safflower to scatter at the picking in-process.
When the control system of the safflower picking robot in the embodiment of the invention is used, the control system comprises the following steps:
the method comprises the steps that firstly, a control system of the safflower picking robot is initialized, after the initialization is completed, a main controller receives a scheduling instruction sent by the scheduling system, walking equipment drives a motion platform to a specified area according to the scheduling instruction, a vision positioning module controls a binocular camera 15 to rotate, so that a camera lens points to the advancing direction of the motion platform to obtain field ridge image information, and the main controller calculates a picking path according to motion platform position information transmitted by a navigation module and safflower space position information obtained by the vision positioning module;
secondly, the walking device is close to a safflower plant along the picking path, the vision positioning module controls the binocular camera 15 to rotate, so that the camera lens points to the ground to obtain the position information of a flower ball of the safflower, the walking device stops moving after the vision positioning module detects mature safflower, the main controller sends a motion instruction to the motion control module according to longitude and latitude information obtained by the navigation module and attitude information of the motion platform obtained by the sensor, the motion control module decomposes the motion instruction into a first motion instruction and a second motion instruction, and the platform controller drives the telescopic device to adjust the motion platform to be parallel to the ground according to the first motion instruction;
and step three, after the leveling of the moving platform is finished, the picking hand controller guides the picking device 12 to carry out the safflower picking operation according to the second moving instruction until the safflower picking in the area is finished.
Further, the control method of the control system of the safflower picking robot further comprises the fourth step of:
after the safflower picking is finished, the walking equipment continues to move forwards for a certain distance, and the positioning, leveling and picking processes are repeated until the safflower picking of one ridge is finished.
Further, the control method of the safflower picking robot control system also comprises the following five steps:
and the main controller guides the walking equipment to drive the moving platform to move in a line according to the image information between the ridges obtained by the visual positioning module, enters the next safflower ridge, and repeats the navigation, the advancing, the posture adjustment, the moving platform leveling, the safflower identification, the safflower positioning and the safflower picking process until the scheduling instruction is finished.
Further, in the third step of the control method of the control system of the safflower picking robot, the safflower picked by the picking device 12 is collected together by the safflower conveying device.
As shown in fig. 3, a control method of a control system of a safflower picking robot is characterized in that a main controller receives a picking area instruction of a dispatching system, calculates an optimal straight path for a vehicle body to travel through inter-ridge information of a vision subsystem, obtains vehicle body position and posture information through a navigation control subsystem, and guides the vehicle body to travel, adjust the posture and level a picking platform through the vehicle body control subsystem; after the vehicle body reaches the picking area, the main controller obtains the spatial position coordinates of the safflower through the vision subsystem, and guides the picking and collecting control subsystem to pick and collect the safflower filaments; main operation information of the safflower picking robot can be sent to the dispatching system in real time through the wireless AP and can also be displayed through the display screen 7.
After the vehicle body is powered on, the main control system and all subsystems enter initialization, after the initialization is completed, the main control system waits for a scheduling instruction and walks to a designated area according to scheduling information, and the vision subsystem controls the camera adjusting device to drive the binocular camera to rotate, so that the camera lens points to the advancing direction of the vehicle body to obtain field ridge picture information, and the main controller calculates an optimal straight line path.
After the main controller obtains the optimal path, the vision subsystem controls the stepping motor to drive the binocular camera to rotate, so that the camera lens points to the ground to obtain position information of a safflower ball, the main controller obtains longitude and latitude information of the vehicle body and vehicle posture information of the inertial navigation module according to the navigation subsystem, guides the vehicle control subsystem to control the vehicle body to advance and adjust the posture, the vision subsystem detects the mature safflower and then stops advancing, and the vehicle control subsystem guides the picking platform to level according to the data of the tilt sensor.
After the car body is leveled, the vision subsystem detects the coordinates of the position of the safflower and sends the coordinates to the picking and collecting subsystem, the manipulator controller plans a picking path, the manipulator is controlled to move to a specified coordinate position, the picking device 12 picks the safflower, the pneumatic conveying device conveys the safflower filaments to the storage chamber, the car body continues to move forwards for a certain distance after the safflower picking in the area is completed, the positioning, picking and pneumatic conveying operations are repeated, after the safflower filaments are picked in the ridge, the main controller obtains the information among the ridges again according to the vision subsystem and guides the car body to change the rows, the car body enters the next safflower ridge, the navigation, the car body advancing, the posture adjustment, the car body leveling, the safflower identification, the safflower positioning, the safflower filament picking, the pneumatic conveying and other operation flows are repeated until the scheduling is completed.
The main controller obtains field ridge row picture information through a vision subsystem, and extracts a navigation center line of the safflower ridge by using a Hough transformation method; because the mature safflower filaments are yellow or safflower, the safflower branches and leaves are green, and the color contrast is obvious, the safflower curd recognition and positioning method adopts a color difference method, and the binocular camera is adopted in the method, so that the depth position information of the curd can be effectively obtained; the safflower picking robot adopts a navigation mode of combining GNSS navigation and inertial navigation when walking between ridges, the invention adopts satellite navigation information based on base station differential data, the longitude and latitude position information is more accurate, the inertial navigation sensor provides attitude angle information of a vehicle body, the main controller controls differential motion of a driving wheel according to the data of the GNSS navigation and the inertial navigation, and keeps the vehicle body to move straightly or adjust the attitude, wherein the driving mode of the driving wheel is that a servo motor is connected to a speed reducer and is transmitted to the driving wheel through chain transmission.
The control system preferably adopts the CAN bus to communicate with each subsystem controller through the main controller, thereby greatly enhancing the reliability, the real-time performance and the flexibility of data communication according to the unique characteristics and the advantages of the CAN bus.
The present invention is not limited to the specific technical solutions described in the above embodiments, and other embodiments may be made in the present invention in addition to the above embodiments. It will be understood by those skilled in the art that various changes, substitutions of equivalents, and alterations can be made without departing from the spirit and scope of the invention.
Claims (10)
1. A safflower picking robot control system is characterized by comprising a motion platform and a picking device;
the bottom of the motion platform is connected with walking equipment through a telescopic device, the fixed end of the picking device is connected to the bottom of the motion platform, and a main control module, a navigation module, a visual positioning module and a motion control module are arranged on the motion platform;
the main control module comprises an access antenna and a main controller, the main controller is connected with the dispatching system through the access antenna, and is used for receiving an instruction of the dispatching system, calculating a picking path according to the position information of the motion platform transmitted by the navigation module and the spatial position information of the safflower acquired by the visual positioning module, and sending a motion instruction to the motion control module;
the navigation module is used for receiving satellite transmission information, carrying out differential processing with a base station to obtain real-time longitude and latitude information of the motion platform, and obtaining position information of the motion platform by combining attitude information obtained by a sensor loaded on the motion platform, and the navigation module transmits the position information of the motion platform to the main controller;
the visual positioning module obtains a depth point cloud picture of a picking area through a binocular camera, and analyzes and processes the depth point cloud picture to obtain safflower spatial position information;
the motion control module is used for receiving a motion instruction sent by the main controller and decomposing the motion instruction into a first motion instruction and a second motion instruction, the motion control module comprises a platform controller and a picking hand controller, the platform controller drives the telescopic device to adjust the pose state of the motion platform according to the first motion instruction and drives the walking equipment to be close to a safflower plant along a picking path, and the picking hand controller guides the picking device to implement safflower picking operation according to the second motion instruction.
2. The safflower picking robot control system according to claim 1, wherein the picking device comprises a mechanical arm and a picking hand with a shearing blade, the picking hand is connected with the bottom of the motion platform through the mechanical arm, a plurality of mechanical arms constitute a parallel motion mechanism, and a control end of the mechanical arm is connected with the picking controller.
3. The safflower harvesting robot control system of claim 1, wherein the walking device comprises a walking wheel and a driving wheel, the walking wheel and the driving wheel are both connected with a telescopic device through a supporting seat, and the driving wheel is connected with a power device through a transmission structure.
4. The safflower harvesting robot control system of claim 1, wherein the sensors comprise a tilt sensor and an ultrasonic sensor, the tilt sensor being positioned on a bottom plane of the motion platform, the ultrasonic sensor being positioned on a side wall of the motion platform.
5. The control system of a safflower picking robot according to claim 1, wherein the binocular camera is connected with the motion platform through a camera adjusting platform, the camera adjusting platform is provided with an adjusting motor for rotating the binocular camera, and a control end of the adjusting motor is connected with the visual positioning module.
6. The control system of a safflower picking robot according to claim 1, wherein the picking device is further provided with a safflower conveying device, the safflower conveying device comprises a fan and a storage chamber, the storage chamber is connected with the discharge end of the picking device through an air conveying pipe, and the fan is positioned in the storage chamber to provide negative pressure for the air conveying pipe to convey the safflower.
7. A control method using the safflower picking robot control system according to any one of claims 1 to 6, characterized by comprising the steps of:
the method comprises the steps that firstly, a control system of the safflower picking robot is initialized, after the initialization is completed, a main controller receives a scheduling instruction sent by the scheduling system, walking equipment drives a motion platform to a designated area according to the scheduling instruction, a vision positioning module controls a binocular camera to rotate, so that a camera lens points to the advancing direction of the motion platform to obtain field ridge image information, and the main controller calculates a picking path according to motion platform position information transmitted by a navigation module and safflower space position information obtained by the vision positioning module;
secondly, the walking device is close to a safflower plant along the picking path, the vision positioning module controls the binocular camera to rotate, so that the camera lens points to the ground to obtain the position information of a flower ball of the safflower, the vision positioning module stops advancing after detecting mature safflower, the main controller sends a motion instruction to the motion control module according to longitude and latitude information obtained by the navigation module and attitude information of the motion platform obtained by the sensor, the motion control module decomposes the motion instruction into a first motion instruction and a second motion instruction, and the platform controller drives the telescopic device to adjust the motion platform to be parallel to the ground according to the first motion instruction;
and step three, after the leveling of the motion platform is finished, the picking hand controller guides the picking device to carry out the safflower picking operation according to a second motion instruction until the safflower picking in the area is finished.
8. The control method of a safflower picking robot control system according to claim 7, characterized by comprising the fourth step of:
after the safflower picking is finished, the walking equipment continues to move forwards for a certain distance, and the positioning, leveling and picking processes are repeated until the safflower picking of one ridge is finished.
9. The control method of a safflower picking robot control system according to claim 8, characterized by comprising the step five:
and the main controller guides the walking equipment to drive the moving platform to move in a line according to the image information between the ridges obtained by the visual positioning module, enters the next safflower ridge, and repeats the navigation, the advancing, the posture adjustment, the moving platform leveling, the safflower identification, the safflower positioning and the safflower picking process until the scheduling instruction is finished.
10. The control method of a control system of a safflower picking robot according to claim 7, wherein the safflower picked by the picking means in the third step is collected together by a safflower conveying means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111087539.1A CN114271097A (en) | 2021-09-16 | 2021-09-16 | Control system and control method of safflower picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111087539.1A CN114271097A (en) | 2021-09-16 | 2021-09-16 | Control system and control method of safflower picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114271097A true CN114271097A (en) | 2022-04-05 |
Family
ID=80868602
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111087539.1A Pending CN114271097A (en) | 2021-09-16 | 2021-09-16 | Control system and control method of safflower picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114271097A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114847011A (en) * | 2022-06-01 | 2022-08-05 | 上海非夕机器人科技有限公司 | Picking method, picking apparatus, computer device, storage medium, and program product |
| CN115191232A (en) * | 2022-09-14 | 2022-10-18 | 安徽农业大学 | Tea leaf picking robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080034726A1 (en) * | 2005-10-04 | 2008-02-14 | Los Olivares De Venado Tuerto S.A. | Reversible directible harvesting machine and method for carrying out the harvesting process with said machine |
| CN109220197A (en) * | 2018-09-20 | 2019-01-18 | 安徽农业大学 | A kind of intelligence tea picking machine |
| CN111955165A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Self-propelled full-coverage multi-target safflower filament picking robot |
| CN111955164A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Safflower filament occlusion type parallel picking robot |
| CN214046702U (en) * | 2020-11-17 | 2021-08-27 | 新疆农业大学 | Magnetic navigation control system of greenhouse safflower robot |
-
2021
- 2021-09-16 CN CN202111087539.1A patent/CN114271097A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080034726A1 (en) * | 2005-10-04 | 2008-02-14 | Los Olivares De Venado Tuerto S.A. | Reversible directible harvesting machine and method for carrying out the harvesting process with said machine |
| CN109220197A (en) * | 2018-09-20 | 2019-01-18 | 安徽农业大学 | A kind of intelligence tea picking machine |
| CN111955165A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Self-propelled full-coverage multi-target safflower filament picking robot |
| CN111955164A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Safflower filament occlusion type parallel picking robot |
| CN214046702U (en) * | 2020-11-17 | 2021-08-27 | 新疆农业大学 | Magnetic navigation control system of greenhouse safflower robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114847011A (en) * | 2022-06-01 | 2022-08-05 | 上海非夕机器人科技有限公司 | Picking method, picking apparatus, computer device, storage medium, and program product |
| CN115191232A (en) * | 2022-09-14 | 2022-10-18 | 安徽农业大学 | Tea leaf picking robot |
| CN115191232B (en) * | 2022-09-14 | 2022-12-13 | 安徽农业大学 | Tea leaf picking robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA3084650C (en) | Vision system for automated harvester and method for operating a vision system for an automated harvester | |
| ES2964947T3 (en) | System and method for managing a fleet of drones for harvesting and thinning | |
| CN107567823A (en) | Intelligent tea picking robot | |
| CN114271097A (en) | Control system and control method of safflower picking robot | |
| Scarfe et al. | Development of an autonomous kiwifruit picking robot | |
| EP3210467B1 (en) | Working vehicle | |
| US10178830B2 (en) | Tree location sensing system and process for agricultural tree harvesting | |
| CN109729829B (en) | Intelligent haw picking robot based on binocular identification | |
| US9485912B2 (en) | Tree location sensing system for agricultural tree harvesters | |
| JP2000092952A (en) | Fruit controlling and harvesting robot | |
| CA3073861C (en) | System and method for autonomous harvesting of mushrooms | |
| CN114679963B (en) | Cross-ridge double-arm cooperation strawberry harvesting robot, control system and picking method | |
| CN216392163U (en) | Tea leaf picking device | |
| CN107509399A (en) | A kind of green intelligent weed-eradicating robot | |
| JP6824377B2 (en) | Work vehicle | |
| CN110431999B (en) | Gantry type automatic fruit harvesting robot | |
| CN112020981A (en) | Intelligent weeding robot system based on machine vision | |
| Mail et al. | Agricultural Harvesting Robot Concept Design and System Components: A Review. AgriEngineering 2023, 5, 777–800 | |
| CN220743213U (en) | Orchard transport vehicle | |
| CN217446130U (en) | Multifunctional plant protection robot | |
| CN116686638A (en) | Automatic Morchella picking robot for greenhouse planting | |
| CN116806798A (en) | Multifunctional laser weeding device and method | |
| ES1285962U (en) | AUTONOMOUS DEVICE FOR AUTOMATIC VINE PRUNING (Machine-translation by Google Translate, not legally binding) | |
| KR20020037209A (en) | Module type, multi-functional and remote operation system for raising, harvesting and loading control of crops |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |