CN113799129A - Barrier control system is kept away to spray lance formula laxative machine arm intelligence - Google Patents
Barrier control system is kept away to spray lance formula laxative machine arm intelligence Download PDFInfo
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- CN113799129A CN113799129A CN202111094709.9A CN202111094709A CN113799129A CN 113799129 A CN113799129 A CN 113799129A CN 202111094709 A CN202111094709 A CN 202111094709A CN 113799129 A CN113799129 A CN 113799129A
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- Prior art keywords
- mechanical arm
- arm
- obstacle avoidance
- processing terminal
- control system
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- 239000007921 spray Substances 0.000 title claims abstract description 21
- 230000004888 barrier function Effects 0.000 title claims description 5
- 239000008141 laxative Substances 0.000 title claims description 5
- 230000002475 laxative effect Effects 0.000 title claims description 5
- 238000012545 processing Methods 0.000 claims abstract description 26
- 239000000575 pesticide Substances 0.000 claims abstract description 14
- 238000005507 spraying Methods 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000004044 response Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 abstract description 3
- 238000004891 communication Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 244000037666 field crops Species 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Automation & Control Theory (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention relates to the technical field of spray lance type pesticide spraying machines, and discloses an intelligent obstacle avoidance control system for a mechanical arm of a spray lance type pesticide spraying machine, which comprises an industrial PAD, a data processing terminal, a switch, a radar and a mechanical arm controller, wherein the industrial PAD is connected with the data processing terminal, the data processing terminal is respectively connected with the switch and the mechanical arm controller, the switch is connected with the radar, the mechanical arm controller is connected with a mechanical arm in-place state sensor, and the mechanical arm in-place state sensor is respectively connected with a left mechanical arm and a right mechanical arm; the radar data processing terminal is used as a center, orientation information of obstacle information is obtained through data calculation, data required by the mechanical arm for obstacle avoidance are calculated, the state of the mechanical arm is controlled through a mechanical arm control unit, obstacle avoidance is completed, and meanwhile, the data are uploaded to the data terminal through a data communication protocol.
Description
Technical Field
The invention relates to the technical field of spray lance type pesticide spraying machines, in particular to an intelligent obstacle avoidance control system for a mechanical arm of a spray lance type pesticide spraying machine.
Background
The spray rod type pesticide sprayer is a motor-driven sprayer with spray heads mounted on a transverse spray rod or a vertical spray rod. The sprayer has high operation efficiency, good spraying quality and even spraying liquid amount distribution, is suitable for spraying various liquid preparations such as pesticides, fertilizers, plant production regulators and the like in a large area, and is widely applied to field crops, lawns, nurseries, wall type vineyards and specific occasions.
Among the prior art, because agricultural machinery arm is longer, agricultural machinery arm is at the in-process of work, and the agricultural machinery arm can't detect the place ahead obstacle, needs the people to look over in real time, and is comparatively troublesome.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an intelligent obstacle avoidance control system for a mechanical arm of a spray rod type pesticide sprayer, which has the advantage of automatic obstacle avoidance and solves the problem that people need to check in real time and the problem is troublesome.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a barrier control system is kept away to spray lance formula laxative machine arm intelligence, includes industry PAD, data processing terminal, switch, radar and arm controller, industry PAD with the data processing terminal is connected, the data processing terminal respectively with the switch with the arm controller is connected, the switch with the radar is connected, the arm controller is connected with the arm state sensor that targets in place, the arm state sensor that targets in place is connected with left side arm and right side arm respectively.
Preferably, the industrial PAD initializes parameters of the data processing terminal.
Preferably, the specific parameter for parameter initialization is real-time data transmission and initialization data transmission.
Preferably, the real-time data transmission comprises a GPS data interface, and the interface comprises vehicle running speed, current satellite time service, current mechanical arm stretching state and alarm information in a manual mode;
the initialization data transmission comprises the minimum obstacle avoidance distance of the mechanical arm, the maximum obstacle avoidance distance of the mechanical arm, the up-and-down line setting of radar scanning, the maximum response time of the mechanical arm and mode setting.
Preferably, the data processing terminal interacts with the radar through a gigabit network.
Preferably, the radar is a solid state lidar.
Preferably, the data processing terminal sends a heartbeat acquisition command packet at a time interval of 500ms to ensure that the connection state of the device is normal.
(III) advantageous effects
Compared with the prior art, the invention provides an intelligent obstacle avoidance control system for a mechanical arm of a spray lance type pesticide sprayer, which has the following beneficial effects:
the radar data processing terminal is used as a center, orientation information of obstacle information is obtained through data calculation, data required by the mechanical arm for obstacle avoidance are calculated, the state of the mechanical arm is controlled through a mechanical arm control unit, obstacle avoidance is completed, and meanwhile, the data are uploaded to the data terminal through a data communication protocol.
Drawings
FIG. 1 is a system diagram of the present invention;
FIG. 2 is a system diagram of a data processing terminal and a robot controller according to the present invention;
FIG. 3 is a flow chart of the present invention;
FIG. 4 is a functional overview of the system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
The utility model provides a barrier control system is kept away to spray lance formula laxative machine arm intelligence, includes industry PAD, data processing terminal, switch, radar and arm controller, and industry PAD is connected with data processing terminal, and data processing terminal is connected with switch and arm controller respectively, and the switch is connected with the radar, and the arm controller is connected with the arm state sensor that targets in place, and the arm state sensor that targets in place is connected with left side arm and right side arm respectively.
In this embodiment, the industrial PAD initializes parameters of the data processing terminal.
In this embodiment, the specific parameter for parameter initialization is real-time data transmission and initialization data transmission.
In the embodiment, the real-time data transmission comprises a GPS data interface, and the interface comprises vehicle running speed, current satellite time service, current mechanical arm stretching state and alarm information in a manual mode;
the initialization data transmission comprises the minimum obstacle avoidance distance of the mechanical arm, the maximum obstacle avoidance distance of the mechanical arm, the up-and-down line setting of radar scanning, the maximum response time of the mechanical arm and mode setting.
In this embodiment, the data processing terminal interacts with the radar through the gigabit network.
In this embodiment, the radar is a solid-state laser radar, the solid-state laser radar mainly detects the characteristics of a target by means of reflection or reception of waves, most of the radar is derived from research of a three-dimensional image sensor, the radar actually derives from an infrared focal plane imager, a photosensitive element array is arranged on a focal plane of the focal plane detector, infrared rays emitted from infinity are imaged on the photosensitive elements of a focal plane of the system through an optical system, the detector converts received optical signals into electric signals, performs integral amplification and sampling holding, and finally sends the electric signals to a monitoring system to form images through output buffering and a multiplex transmission system.
In this embodiment, the data processing terminal sends the heartbeat acquisition command packet at a time interval of 500ms to ensure that the connection state of the device is normal.
Referring to fig. 1-4, the upper computer is an industrial pad, and performs data interaction with the data processing terminal by using network transmission;
the data processing terminal is in interactive communication with the upper computer, performs data acquisition, analysis and calculation on the data of the lower computer, and transmits a control command to the mechanical arm controller;
and the mechanical arm controller completes the logical control of the mechanical arm and realizes automatic obstacle avoidance.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a barrier control system is kept away to spray lance formula laxative machine arm intelligence which characterized in that: including industry PAD, data processing terminal, switch, radar and arm controller, industry PAD with the data processing terminal is connected, the data processing terminal respectively with the switch with the arm controller is connected, the switch with the radar is connected, the arm controller is connected with the arm state sensor that targets in place, the arm state sensor that targets in place is connected with left side arm and right side arm respectively.
2. The intelligent obstacle avoidance control system for the mechanical arm of the spray lance type pesticide spraying machine according to claim 1, is characterized in that: and the industrial PAD initializes the parameters of the data processing terminal.
3. The intelligent obstacle avoidance control system for the mechanical arm of the spray lance type pesticide spraying machine according to claim 2, is characterized in that: the specific parameters of the parameter initialization are real-time data transmission and initialization data transmission.
4. The intelligent obstacle avoidance control system for the mechanical arm of the spray lance type pesticide spraying machine according to claim 3, characterized in that: the real-time data transmission comprises a GPS data interface, and the interface comprises vehicle running speed, current satellite time service, current mechanical arm stretching state and alarm information in a manual mode;
the initialization data transmission comprises the minimum obstacle avoidance distance of the mechanical arm, the maximum obstacle avoidance distance of the mechanical arm, the up-and-down line setting of radar scanning, the maximum response time of the mechanical arm and mode setting.
5. The intelligent obstacle avoidance control system for the mechanical arm of the spray lance type pesticide spraying machine according to claim 1, is characterized in that: and the data processing terminal interacts with the radar through a gigabit network.
6. The intelligent obstacle avoidance control system for the mechanical arm of the spray lance type pesticide spraying machine according to claim 1, is characterized in that: the radar is a solid state laser radar.
7. The intelligent obstacle avoidance control system for the mechanical arm of the spray lance type pesticide spraying machine according to claim 1, is characterized in that: and the data processing terminal sends a heartbeat acquisition command packet at a time interval of 500ms to ensure that the connection state of the equipment is normal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111094709.9A CN113799129A (en) | 2021-09-17 | 2021-09-17 | Barrier control system is kept away to spray lance formula laxative machine arm intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111094709.9A CN113799129A (en) | 2021-09-17 | 2021-09-17 | Barrier control system is kept away to spray lance formula laxative machine arm intelligence |
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| Publication Number | Publication Date |
|---|---|
| CN113799129A true CN113799129A (en) | 2021-12-17 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111094709.9A Pending CN113799129A (en) | 2021-09-17 | 2021-09-17 | Barrier control system is kept away to spray lance formula laxative machine arm intelligence |
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| CN (1) | CN113799129A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639350A (en) * | 2018-06-08 | 2018-10-12 | 山东创立智能设备有限公司 | Unmanned intelligence spray boom spraying machine |
| US20190014715A1 (en) * | 2017-07-11 | 2019-01-17 | Robert Bosch Gmbh | Control system for an agricultural work system, work system, use |
| CN109885063A (en) * | 2019-03-15 | 2019-06-14 | 江苏大学 | A kind of application robot farmland paths planning method merging vision and laser sensor |
| CN209862068U (en) * | 2018-10-26 | 2019-12-31 | 济南钰成霖信息科技有限公司 | Autonomous navigation pesticide spraying robot for orchard operation |
| CN111360818A (en) * | 2020-01-15 | 2020-07-03 | 上海锵玫人工智能科技有限公司 | Mechanical arm control system through visual positioning |
| CN112621707A (en) * | 2020-12-16 | 2021-04-09 | 华东交通大学 | High-speed train bottom inspection robot |
| CN112947418A (en) * | 2021-01-27 | 2021-06-11 | 特斯联科技集团有限公司 | Smart city public space inspection device |
-
2021
- 2021-09-17 CN CN202111094709.9A patent/CN113799129A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190014715A1 (en) * | 2017-07-11 | 2019-01-17 | Robert Bosch Gmbh | Control system for an agricultural work system, work system, use |
| CN108639350A (en) * | 2018-06-08 | 2018-10-12 | 山东创立智能设备有限公司 | Unmanned intelligence spray boom spraying machine |
| CN209862068U (en) * | 2018-10-26 | 2019-12-31 | 济南钰成霖信息科技有限公司 | Autonomous navigation pesticide spraying robot for orchard operation |
| CN109885063A (en) * | 2019-03-15 | 2019-06-14 | 江苏大学 | A kind of application robot farmland paths planning method merging vision and laser sensor |
| CN111360818A (en) * | 2020-01-15 | 2020-07-03 | 上海锵玫人工智能科技有限公司 | Mechanical arm control system through visual positioning |
| CN112621707A (en) * | 2020-12-16 | 2021-04-09 | 华东交通大学 | High-speed train bottom inspection robot |
| CN112947418A (en) * | 2021-01-27 | 2021-06-11 | 特斯联科技集团有限公司 | Smart city public space inspection device |
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Application publication date: 20211217 |
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