CN102165880A - Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method - Google Patents
Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method Download PDFInfo
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- CN102165880A CN102165880A CN2011100217679A CN201110021767A CN102165880A CN 102165880 A CN102165880 A CN 102165880A CN 2011100217679 A CN2011100217679 A CN 2011100217679A CN 201110021767 A CN201110021767 A CN 201110021767A CN 102165880 A CN102165880 A CN 102165880A
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Abstract
The invention discloses an automatic-navigation crawler-type mobile fruit picking robot which comprises a mechanical execution system and a control system and is characterized in that the mechanical execution system comprises an intelligent movable platform, a fruit picking mechanical arm and a two-finger type manipulator, wherein the intelligent movable platform comprises two crawler assemblies, an experimental facility fixing rack, a supporting stand column, a cross beam, a speed reducer and the like; and the control system comprises an industrial personal computer, a motion control card, a data collecting card, an image collecting card, an encoder, a GPS (global position system), a monocular zooming camera assembly, a binocular camera, a laser ranging sensor, a control circuit and the like. The automatic-navigation crawler-type mobile fruit picking robot integrates the fruit picking mechanical arm, the two-finger type manipulator, the intelligent movable platform and the sensor system, integrates multiple key technologies such as fruit identification, motion of the picking mechanical arm, grabbing of a tail-end executer, automatic navigation and obstacle avoidance of the movable platform, and the like, and really realizes automatic and humanized fruit picking.
Description
Technical field
The present invention relates to the Robotics field, especially a kind of crawler type fruit picking robot of independent navigation.
Background technology
China is fruit big producing country, and the annual production of fruit in recent years accounts for 18% of world's fruit gross yield about 9,500 ten thousand tons.From the seventies in 20th century so far, the cultivated area in orchard and gross yield present the trend of rising always.According to survey data demonstration in the past, apple, oranges and tangerines, pears are main varieties of plant of China's fruit, no matter are that area or output homogeneous are in line in front three, account for about 50% of whole fruits output.
Entered since 21 century, the Chinese people actinal surface faces the aging problem and is on the rise, and along with the developing rapidly of industry, the agricultural workforce shifts to industry and other industries gradually, and the serious and cost of agricultural workforce's shortage improves gradually.The fruit picking operation is a link the most consuming time during fruit is produced, that require great effort most, and its results belong to labour-intensive operation again, needs the labour who drops into to account for 50% of whole process of production during the fruit harvest.And in the fruit picking operation, often need ascend a height by ladder, long working not only labour intensity is big but also have certain danger.More than numerous factors brought great difficulty for the results of fruit, the fruit picking robot of therefore researching and developing a kind of automation is extremely urgent.Fruit picking robot not only can reduce the orchard worker labour intensity, raise labour productivity, reduce production costs, guarantee that fruit in time gathers, guarantees fruit quality, and for promoting China's advance in agricultural science and technology, quickening the agricultural modernization process has great impetus.
Have the whole world in view, the research of agricultural robot is probably started from early 1980s.Japan, France and the U.S. have become the pioneer of research in this field at present.With respect to these developed countries, China starts late in the research in this field, probably starts from the mid-90 in 20th century.At present domestic have many universities and colleges, research institute all carrying out picking robot and the relevant research of reading intelligent agriculture machinery.Xibei Univ. of Agricultural ﹠ Forest Science ﹠ Technology controls the apple picking robot arm and studies; Zhejiang University has carried out kinematics analysis to tomato harvester tool hand; Shanghai Communications University plucks cucumber and studies; Jiangsu University carries out corresponding research etc. to tomato harvester tool hand.In addition, utilization color image processing such as Guo Feng and neural network theory are developed Strawberry Sorting Robot; Zhao Jiewen etc. have studied based on the ripe tomato recognition technology in the field of HIS color characteristic; Liang Xifeng etc. learn characteristic to tomato harvester tool hands movement and analyze, and tomato harvester tool hands movement are learned optimization test with emulation.From above research as can be seen, domestic scientific research personnel has done a large amount of work in the fruit and vegetable picking field, but the harvesting of fruit is individual extremely complicated system engineering, still has a lot of difficult problems not solve at present.Such as above research is to concentrate on several one-side researchs such as fruit picking machinery arm, various end effector, visual sensor system mostly, almost has no talent the further investigation that combines of fruit picking machinery arm, end effector, sensing system and intelligent family moving platform whole system.This just brings a problem, and the picking robot that finds out still needs people's assistance (picking robot is fixed on the vehicle, and the pilot steering vehicle can not independent navigation) just can finish the harvesting task.This problem not only occurs at home, and also extensively exists abroad.Therefore, in essence, the also inreal full automation of realizing of the harvesting of fruit, unmanned.
Summary of the invention
The object of the present invention is to provide a kind of crawler type fruit picking robot of independent navigation, the present invention is exactly the problem that exists in the above research, picking mechanical arm, end effector, sensing system and the intelligent family moving platform whole system of six degree of freedom are combined, motion, the extracting of terminal picking mechanical arm and several committed steps such as independent navigation of intelligent family moving platform of the picking mechanical arm of six degree of freedom are merged, really realized the full automation of fruit picking, unmanned.
Technical scheme of the present invention is:
A kind of crawler type fruit picking robot of independent navigation comprises mechanical execution system and control system, it is characterized in that:
Described mechanical execution system comprises the picking mechanical arm and the terminal picking mechanical arm of two finger formulas of crawler type intelligent family moving platform, six degree of freedom;
Described crawler type intelligent family moving platform comprises two track rail assemblies, experimental facilities fixed frame, support post, crossbeam, reductor, preceding casing and rear box and side board, wherein two track rail assemblies are by four crossbeams and the welding of crawler belt brace summer, connect by four support posts between experimental facilities fixed frame and the crawler type intelligent family moving platform, preceding casing and rear box and side board are by the stent support on the support post;
Each described track rail assembly comprises BOGEY WHEEL, directive wheel, regulating wheel, driving wheel, crawler belt, crawler belt brace summer, reductor and reductor holder, and reductor is installed on the reductor holder;
Described picking mechanical arm is fixed on the picking mechanical arm fixed pedestal of crawler type intelligent family moving platform front end, and the switch board of picking mechanical arm is fixed on the rear end of crawler type intelligent family moving platform;
Described binocular camera is positioned at the upside in the terminal joint of picking mechanical arm of six degree of freedom, and two GPS receivers lay respectively at the both sides, front and back of industrial computer.Motor servo driver and regulator cubicle are placed on crawler type intelligent family moving platform middle part, the industrial computer main frame is positioned at the regulator cubicle upside, motion control card, data collecting card, image pick-up card are inserted into respectively in the PCI slot of industrial computer, and the monocular-camera assembly is positioned at the industrial computer top.
Described control system comprises industrial computer, motion control card, data collecting card, image pick-up card, servomotor, photoelectric encoder, two GPS receivers, monocular-camera assembly, binocular camera, laser range sensor, power sensor, sliding feeling sensor, control circuit, motor servo driver and regulator cubicles.
A kind of crawler type fruit picking robot that utilizes independent navigation carries out the method for fruit picking, it is characterized in that may further comprise the steps:
Monocular-camera detects the position of fruit tree;
When detecting when within sweep of the eye fruit tree being arranged, industrial computer sends the instruction that halts of crawler type intelligent family moving platform to motion control card, sends to the controller of picking mechanical arm simultaneously and instructs, and the binocular camera on the picking mechanical arm is rotated to over against the fruit tree direction;
The image information of binocular stereo vision system acquisition fruit tree and barrier, ripening fruits and peripheral obstacle thereof are carried out image recognition, and the master controller industrial computer locus coordinate and the fruit that calculate the relative picking mechanical arm of fruit basis coordinates grasps required posture information then.Next the master controller industrial computer is planned plucking the path again, guarantees that mechanical arm can not run into barrier in the harvesting process.The terminal picking mechanical arm of last two finger formulas grasps fruit, and fruit is put into fruit collecting box;
Repeat above process, the fruit in the harvesting scope is all plucked and is finished, and the crawler type intelligent family moving platform moves on, and repeats above walking and fruit picking process;
Lose when binocular camera detects road surface fruit tree row feature, then picking robot arrives the edge of a field, starts the turning program at once, and when detecting fruit tree row feature once more, picking robot continues to follow the tracks of the row feature, and repeats above fruit picking process.
Further comprising the steps of:
Binocular camera and laser range sensor detect on the mobile platform direction of advance barrier are arranged in the process if advance, and industrial computer will carry out integrated treatment apart from the environmental information on the depth information of barrier, the current posture information of picking robot that gps system detects and road surface with the picking robot of barrier size information, laser range sensor and the binocular camera shooting machine testing of binocular camera shooting machine testing and calculate;
If result of calculation shows picking robot and can keep away barrier, then system starts at once and keeps away the barrier program, if show can not the cut-through thing for result of calculation, picking robot just stops at the original place at once and gives the alarm.
The invention has the beneficial effects as follows:
Advantage of the present invention is: (1) merges the autonomous navigation system and the automatic picker system of fruit of picking robot first in the fruit picking field, has realized fruit picking full automation, unmanned; (2) the crawler type intelligent family moving platform is simple in structure, and is in light weight, can adapt to multiple complex road condition, and what driving wheel and BOGEY WHEEL adopted is macromolecular material, alleviated weight satisfying under the prerequisite of intensity, can also play certain cushioning effect simultaneously; (3) whole mobile platform is driven by servomotor and reductor, feeds back current location information with encoder, can realize accurate position control; (4) the DGPS system of navigation employing except the receiver of base station, also has two receivers on the intelligent family moving platform.This system can not only obtain intelligent family moving platform position and attitude information, and the information of the master controller industrial computer navigation information that DGPS can also be obtained and binocular camera, laser range sensor merges, and this has just improved the intelligent family moving platform navigation accuracy greatly and has kept away the barrier ability; (5) binocular camera in the described picking robot vision sensor adopts the time-sharing multiplex scheme, avoids using two binocular cameras, has both satisfied instructions for use, saves cost again.When intelligent family moving platform needed vision guided navigation, the picking mechanical arm of six degree of freedom rotated to the required initial pose of navigation, carries out the collection of navigation picture information.When the needs fruit-picking, the terminal joint of the picking mechanical arm of six degree of freedom rotates to over against the fruit tree direction, gathers the fruit tree image information, resolves fruit locus coordinate, obtains fruit and grasps required posture information; (6) the chassis Bolt Connection of experimental facilities fixed mount and picking robot is for convenience detach, can accomplish a tractor serves several purposes, as the intelligent family moving platform in multiple robots such as non-fruit harvest useful as herbicidal in season, spray medicine, fertilising, sowings; (7) intelligent family moving platform both can use DC power supply also can use ac power supply, and the adaptability that this has just improved platform has greatly reduced the restriction of environment for use;
In order to advocate the environmental protection concept of " energy-saving and emission-reduction, green low-carbon ", in design fixed scheme satisfying under the prerequisite of instructions for use, structural design all is to make every effort to oversimplify lightness.Adopt three-phase 380V to change the three-phase isolation transformer of three-phase 200V as traditional servo-drive system to servo-driver power supply (this transformer is not only very heavy, and energy consumption is too high, and calorific value is too big) more.Consider above undesirable element, we have abandoned traditional thinking in the design, adopt the intelligent slaving transformer of up-to-date development, and this just makes the picking robot overall weight alleviate 25%, the cost of transformer own reduces by 50%, and entire machine people's energy consumption also decreases more than 30%.
The invention solves too high this problem of fruit picking labor shortage and cost, reduced the orchard worker labour intensity, improved labor productivity, reduced production cost, guaranteed that fruit in time gathers, guaranteed fruit quality.
The present invention has advanced the innovation of fruit picking technology, and to promoting China's advance in agricultural science and technology, it is significant to quicken the agricultural modernization process.
Description of drawings
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is the driven by servomotor control circuit figure that the present invention drives the chassis.
Fig. 3 is that the main functional modules of control system of the present invention constitutes schematic diagram.
Among Fig. 1,1 is the terminal picking mechanical arms of two finger formulas, 2 is binocular camera, 3 is the picking mechanical arm of six degree of freedom, 4 is picking mechanical arm fixed pedestal, 5 is that three-phase isolation transformer 6 is the experimental facilities fixed frame, 7 is preceding casing, 8 is the casing carriage, 9 is support post, 10 is regulating wheel, 11 is crawler belt, 12 is crossbeam, 13 is the crawler belt brace summer, 14 is reductor, 15 is the reductor holder, 16 is driving wheel, 17 is bearing supporting frame, 18 is BOGEY WHEEL, 19 is servomotor, 20 is directive wheel, 21 is rear box and side board, 22 is the picking mechanical arm switch board of six degree of freedom, 23 is display, 24 is motor servo driver, 25 is fruit collecting box, 26 is a GPS receiver, 27 is industrial computer, 28 is the monocular-camera assembly, 29 is the 2nd GPS receiver, 30 is regulator cubicle, 31 is lithium battery system.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described:
As Fig. 1, the portable fruit picking robot of the independent navigation of present embodiment and harvesting automatically is mainly by the terminal picking mechanical arm 1 of two finger formulas, binocular camera 2, the picking mechanical arm 3 of six degree of freedom, picking mechanical arm fixed pedestal 4, three-phase isolation transformer 5, experimental facilities fixed frame 6, preceding casing 7, casing carriage 8, support post 9, regulating wheel 10, crawler belt 11, crossbeam 12, crawler belt brace summer 13, reductor 14, reductor holder 15, driving wheel 16, bearing supporting frame 17, BOGEY WHEEL 18, servomotor 19, directive wheel 20, rear box and side board 21, the picking mechanical arm switch board 22 of six degree of freedom, display 23, motor servo driver 24, fruit collecting box 25, GPS receiver I 26, industrial computer 27, monocular-camera assembly 28, GPS receiver II 29, regulator cubicle 30, lithium battery system 31 compositions such as grade.There is breaker the inside of regulator cubicle 30, fuse, intelligent slaving transformer; There are air switch, earth leakage protective device etc. in the outside of regulator cubicle 30.Monocular-camera assembly 28 comprises monocular-camera and supporting The Cloud Terrace and fixed support thereof.
Terminal picking mechanical arm 1 inner strong sensor and the sliding feeling sensor of two finger formulas can be set different threshold values during clamping difference fruit, adapts to the extracting of multiple variety classes fruit with this.Binocular camera 2 has installing hole and locating hole at its lower surface, and binocular camera connects with screw by the installing hole on the picking mechanical arm 3 of I shape fixed mount and six degree of freedom.Binocular camera 2 is used for discerning apple during fruit-picking, and resolves the locus coordinate of apple with respect to the picking mechanical arm pedestal of six degree of freedom.Picking mechanical arm fixed pedestal 4 is fixed by bolts to the front end of experimental facilities fixed frame 6, and particular location is adjustable, works under the environment of the orchard of different spacings to make things convenient for picking robot.In addition, for the weight balancing that keeps whole platform with the problems such as electromagnetic interference when reducing wiring, the picking mechanical arm switch board 22 of six degree of freedom is arranged in the rear end of experimental facilities fixed frame 6.Fruit collecting box 25, regulator cubicle 30, industrial computer 27, GPS receiver 26 and 27, monocular camera 28, motor servo driver 24 all are positioned at the middle part of experimental facilities fixed frame 6.Wherein regulator cubicle 30 directly is screwed on experimental facilities fixed frame 6.The breaker of regulator cubicle inside, fuse, intelligent slaving transformer all is screwed on insulation board.Air outside switch and earth leakage protective device then are screwed the side at regulator cubicle, and the benefit of Bu Zhiing is can shut down at once when picking robot runs into accident like this.Industrial computer main frame 27 is positioned at the top of regulator cubicle 30. GPS receiver 26 and 29 is positioned at the both sides, front and back of industrial computer 27,28 of monocular-camera assemblies be positioned at industrial computer 27 above, motor servo driver 24 is installed between picking mechanical arm switch board 22 and the regulator cubicle 30.The display 23 of industrial computer 27 is positioned at the top of picking mechanical arm switch board 22.The lithium battery system 31 that is used for the whole system power supply is installed in crossbeam 12.
Preceding casing 7, rear box and side board 21 are fixed on the support post 9 by casing carriage 8.All leave circular hole on the casing of front and back, the hole on the wherein preceding casing is mainly used to threading to reduce the platform surface wiring, makes whole platform outward appearance neatly orderly.Also having the bigger circular hole of part on the rear box except through wires hole is air vent, is used for to 22 heat radiations of picking mechanical arm switch board.Support post 9 adopts Bolt Connection dismounting and a tractor serves several purposes for convenience with crossbeam 12.Crossbeam 12 and crawler belt brace summer 13 directly weld together.The back shaft of the directive wheel 20 of crawler belt 11 inboards, BOGEY WHEEL 18, regulating wheel 10 all is welded on the crawler belt brace summer 13.
Servomotor 19 adopts Bolt Connection with reductor 14.Reductor 14 and holder 15 thereof are fixed on the frame on chassis.Servomotor 19 is realized accurate position control by industrial computer 27, encoder (not drawing among the figure) and inner motion control card (not drawing among the figure).Entire machine people's Position Control is fed back by the encoder on the servomotor 19 (not drawing among the figure).The one GPS receiver 26 and the 2nd GPS receiver 27, binocular camera 2, monocular camera 28, laser range sensor, power sensor, sliding feeling sensor (not drawing among the figure) and industrial computer 27 have constituted the picking robot navigation, have kept away the environment sensing system of barrier and fruit extracting.
A kind of crawler type fruit picking robot that utilizes independent navigation carries out the method for fruit picking, it is characterized in that may further comprise the steps:
Monocular-camera 28 detects the position of fruit tree;
When detecting when within sweep of the eye fruit tree being arranged, industrial computer 27 sends the instruction that halts of crawler type intelligent family moving platform to motion control card, controller to picking mechanical arm 3 sends instruction simultaneously, and the binocular camera 2 on the picking mechanical arm is rotated to over against the fruit tree direction;
The image information of binocular stereo vision system acquisition fruit tree and barrier, ripening fruits and peripheral obstacle thereof are carried out image recognition, and the master controller industrial computer 27 locus coordinate and the fruit that calculate relative picking mechanical arm 3 basis coordinates of fruit grasps required posture information then.Next master controller industrial computer 27 is planned plucking the path again, guarantees that mechanical arm can not run into barrier in the harvesting process.The terminal picking mechanical arm 1 of last two finger formulas grasps fruit, and fruit is put into fruit collecting box;
Repeat above process, the fruit in the harvesting scope is all plucked and is finished, and the crawler type intelligent family moving platform moves on, and repeats above walking and fruit picking process;
Lose when binocular camera 2 detects road surface fruit tree row feature, then picking robot arrives the edge of a field, starts the turning program at once, and when detecting fruit tree row feature once more, picking robot continues to follow the tracks of the row feature, and repeats above fruit picking process.
Further comprising the steps of:
Binocular camera 2 and laser range sensor detect on the mobile platform direction of advance barrier are arranged in the process if advance, and the picking robot that the barrier size information that industrial computer 27 will detect binocular camera 2, laser range sensor and binocular camera 2 detect carries out integrated treatment calculating apart from the depth information of barrier, the current posture information of picking robot that gps system detects and the environmental information on road surface;
If result of calculation shows picking robot and can keep away barrier, then system starts at once and keeps away the barrier program, if show can not the cut-through thing for result of calculation, picking robot just stops at the original place at once and gives the alarm.
Enter 21 century, the Chinese people actinal surface faces the increasingly serious problem of an aging population, and along with the developing rapidly of industry, the agricultural workforce shifts to industry and other industries gradually, and agricultural workforce's shortage and labour cost increase gradually.The fruit picking operation is a link the most consuming time during fruit is produced, that require great effort most, and its results belong to labour-intensive operation again.The labour who need to drop into during the fruit harvest accounts for 50% of whole process of production, more than numerous factors brought great difficulty for the results of fruit.Picking robot of the present invention is exactly in order to solve the difficulty that above fruit picking exists, its not only can reduce the orchard worker labour intensity, raise labour productivity, reduce production costs, guarantee that fruit in time gathers, guarantees fruit quality, and for promoting China's advance in agricultural science and technology, quickening the agricultural modernization process has great impetus.
Embodiment recited above is described preferred implementation of the present invention; be not that design of the present invention and scope are limited; do not breaking away under the design concept prerequisite of the present invention; common engineers and technicians make technical scheme of the present invention in this area various modification and improvement; all should fall into protection scope of the present invention, the technology contents that the present invention asks for protection all is documented in claims.
Claims (5)
1. the crawler type fruit picking robot of an independent navigation comprises mechanical execution system and control system, it is characterized in that:
Described mechanical execution system comprises the picking mechanical arm and the terminal picking mechanical arm of two finger formulas of crawler type intelligent family moving platform, six degree of freedom;
Described crawler type intelligent family moving platform comprises two track rail assemblies, experimental facilities fixed frame (6), support post (9), crossbeam (12), reductor (14), preceding casing (7) and rear box and side board (21), wherein two track rail assemblies are by four crossbeams (12) and crawler belt brace summer (13) welding, connect by four support posts (9) between experimental facilities fixed frame (6) and the crawler type intelligent family moving platform, preceding casing (7) and rear box and side board (21) are by the stent support on the support post (9);
Each described track rail assembly comprises BOGEY WHEEL (19), directive wheel (20), regulating wheel (10), driving wheel (16), crawler belt (11), crawler belt brace summer (13), reductor (14) and reductor holder (15), and reductor (14) is installed on the reductor holder (15);
Described picking mechanical arm (3) is fixed on the picking mechanical arm fixed pedestal (4) of crawler type intelligent family moving platform front end, and the switch board (22) of picking mechanical arm (3) is fixed on the rear end of crawler type intelligent family moving platform.
2. the crawler type fruit picking robot of independent navigation according to claim 1, it is characterized in that described binocular camera (2) is positioned at the upside in the terminal joint of picking mechanical arm (3) of six degree of freedom, two GPS receivers lay respectively at the both sides, front and back of industrial computer (27); Motor servo driver (24) and regulator cubicle (30) are placed on crawler type intelligent family moving platform middle part, industrial computer (27) main frame is positioned at regulator cubicle (30) upside, motion control card, data collecting card, image pick-up card are inserted into respectively in the PCI slot of industrial computer, and monocular-camera assembly (28) is positioned at industrial computer (27) top.
3. the crawler type fruit picking robot of independent navigation according to claim 1 is characterized in that described control system comprises industrial computer (27), motion control card, data collecting card, image pick-up card, servomotor (19), photoelectric encoder, two GPS receivers, monocular-camera assembly (28), binocular camera (2), laser range sensor, power sensor, sliding feeling sensor, control circuit, motor servo driver (24) and regulator cubicles (30).
4. a crawler type fruit picking robot that utilizes independent navigation as claimed in claim 2 carries out the method for fruit picking, it is characterized in that may further comprise the steps:
Monocular-camera (28) detects the position of fruit tree;
When detecting when fruit tree occurring within sweep of the eye, industrial computer (27) sends the instruction that halts of crawler type intelligent family moving platform to motion control card, controller to picking mechanical arm (3) sends instruction simultaneously, and the binocular camera (2) on the picking mechanical arm is rotated to over against the fruit tree direction;
The image information of binocular stereo vision system acquisition fruit tree and barrier, ripening fruits and peripheral obstacle thereof are carried out image recognition, and master controller industrial computer (27) the locus coordinate and the fruit that calculate the relative picking mechanical arm of fruit (3) basis coordinates grasps required posture information then;
Next master controller industrial computer (27) is planned plucking the path again, guarantees that mechanical arm can not run into barrier in the harvesting process;
The terminal picking mechanical arms of last two finger formulas (1) grasp fruit, and fruit is put into fruit collecting box;
Repeat above process, the fruit in the harvesting scope is all plucked and is finished, and the crawler type intelligent family moving platform moves on, and repeats above walking and fruit picking process;
Lose when binocular camera (2) detects road surface fruit tree row feature, then picking robot arrives the edge of a field, starts the turning program at once, and when detecting fruit tree row feature once more, picking robot continues to follow the tracks of the row feature, and repeats above fruit picking process.
5. the method for fruit picking according to claim 4 is characterized in that further comprising the steps of:
Binocular camera (2) and laser range sensor detect on the direction of advance of mobile platform barrier are arranged in the process if advance, and the picking robot that barrier size information, laser range sensor and the binocular camera (2) that industrial computer (27) will detect binocular camera (2) detects carries out integrated treatment calculating apart from the depth information of barrier, the current posture information of picking robot that gps system detects and the environmental information on road surface;
If result of calculation shows picking robot and can keep away barrier, then system starts at once and keeps away the barrier program, if show can not the cut-through thing for result of calculation, picking robot just stops at the original place at once and gives the alarm.
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