CN102939815A - Seedling taking and seedling planting path planning for pot seedling transplanting robot - Google Patents

Abstract

The present invention performs planning and design for the path and the motion law in the process of seedling taking and seedling planting of a seedling taking claw of a pot seedling transplanting robot in order to meet transplanting operational requirements of accurately positioned taking and high-speed movement planting. The operating mode of the seedling taking claw is set to be five steps, including positioned grasping, linear rising, linear translating, linear descending and positioned transplanting. The three operational stages of rising, translating and descending in the transplanting process all adopt linear motion. The motion law of each section of linear motion is set to be four steps, including stop, acceleration, deceleration and stop. A trajectory control function adopts a quintic polynomial. The transplanting efficiency is improved under the premise of guaranteeing the seedling taking claw to operate smoothly.

Description

A kind of potted-seedling transplanting machine people gets the seedling path planning that plants seedlings

Technical field

The invention belongs to industrialized agriculture equipment field, be specifically related to a kind of cave dish potted-seedling transplanting machine people seedling claw and get seedling plant seedlings path planning and characteristics of motion method for designing in the motion process.

Background technology

Compare with the conventional seedbed system mode; point disk seedling growing have the saving of labor, laborsaving, economize on resources, be convenient to management and advantages such as protection agroecological environment etc.; now become the topmost means of growing seedlings both at home and abroad, be widely used in the production of tobacco, trees, vegetables, flowers crop.In the seedling raising process, obtain enough growing spaces for making crop, need pot seedling is transplanted to low-density dish or flowerpot from compact disc.Because the artificial shortcomings such as having labour intensity is large, operating efficiency is low, production cost is high, transplanting difficult quality guarantee of transplanting from the eighties in 20th century, just is devoted to the development to cave dish potted-seedling transplanting machine people both at home and abroad.

Nineteen ninety-five, Japan has developed the PT6000 type and has transplanted robot, and it coils seedling by the plug-in type seedling plucking device with the cave picks up, and then the drive at manipulator is displaced downwardly to empty basin position, and then seedling plucking device puts down pot seedling, finishes transplanting; Calendar year 2001, the people such as Korea S K.H.Ryu have developed a kind of seedling raising and transplanting robot by cartesian coordinate system, its manipulator is comprised of stepper motor, cylinder, air spider and gripping value, can realize by the folding of air spider crawl, maintenance and release to pot seedling; Korea S W.C.Choi in 2002 develops again by what path generator, crawl pointer and pointer driver formed and gets the seedling device.

Patent " a kind of potted tray seedling transplanter " (application number 200910187621.4) discloses a kind of transplanter that seedling is coiled from high density cave dish to low-density cave dish in different size vegetables and flowers cave or container is initiatively transplanted of finishing; Patent " Pneumatic claw type seedling picking manipulator " (application number is 201120239257.4) discloses a kind of pneumatic clamps seedling that can many strains of gripping pot seedling and has got the seedling device; It is adjustable and with the greenhouse seedling transplanter that unloads the seedling blow gun that patent " a kind of greenhouse seedling transplanter " (application number is 201120382235.3) discloses a kind of manipulator quantity.

In industrialized agriculture was produced, it is significant that cave dish potted-seedling transplanting machine people transplants path planning.In the potted-seedling transplanting motion process, not only require seedling claw can accurately arrive impact point, and must be along the track that requires fast moving in certain accuracy rating, simultaneously for guaranteeing the stationarity of motion, prevent that alms bowl soil is impaired because shaking, also must satisfy certain speed and acceleration requirement.Yet, though made large quantity research for cave dish potted-seedling transplanting both at home and abroad, the various potted-seedling transplanting machine people that realize transplanting operation have successively been developed, but all from stationarity, the rapidity of moving path planning and the characteristics of motion design of transplanting the robot seedling claw do not claimed, have no the correlative study report yet.

In order to realize that cave dish potted-seedling transplanting machine people accurately locates the job requirements that crawl, fast moving are planted, the invention provides a kind of potted-seedling transplanting machine people and get the seedling paths planning method that plants seedlings, guaranteeing under the prerequisite that seedling claw operates steadily the raising transplanting efficiency.

Summary of the invention

The object of the invention is to cook up one for cave dish potted-seedling transplanting machine people seedling claw can realize getting seedling, send seedling, plants seedlings, returns the motion path of whole transplanting process, and its characteristics of motion designed, guaranteeing that cave dish potted-seedling transplanting machine people accurately locates crawl, fast moving and plants under the prerequisite of job requirements raising transplanting efficiency and running stability.

For achieving the above object, the technical solution used in the present invention is as follows:

The potted-seedling transplanting machine people action path planning of passing by of finishing and get seedling, plant seedlings is three sections motor patterns that straight line rising, rectilinear translation and straight line descend, be that seedling is got in seedling claw straight line decline above pot seedling to be got, quick straight line rises after getting seedling, rise to above translation behind the height of seedling and send seedling, transplant seedlings to the position of planting seedlings, straight line decline is planted seedlings fast again, finishes the Hou Yuanlu that plants seedlings and returns.

The starting point of every section straight-line trajectory and the speed of destination county and acceleration are zero.

The characteristics of motion of each operation phase is set as " stop, accelerating, slow down, stop " four steps.

The displacement movement rule of every section straight-line trajectory all is continuous about single order and the second dervative of time.

The control function of every section straight-line trajectory is 5 order polynomials.

By the known boundaries condition $\left\{\begin{array}{c}{t}_{}\end{array}\right.$ $\left\{\begin{array}{c}{}_0=0,a=0,v=0,s=0\\ {\mathrm{<figure-callout\; id="1"\; label="t"\; filenames="HDA00002243398700011.png,HDA00002243398700012.png"\; state="\{\{state\}\}">t</figure-callout>}}_1=T,a=0,v=0,s=S\end{array}\right.,$ Getting its characteristics of motion is:

$\left\{\begin{array}{c}s=\frac{a_{\max }}{5.7735}{T}^2[10{\left(\frac{t}{T}\right)}^3-15{\left(\frac{t}{T}\right)}^4+6{\left(\frac{t}{T}\right)}^5]\\ v=\frac{30a_{\max }}{5.7735}T[{\left(\frac{t}{T}\right)}^2-2{\left(\frac{t}{T}\right)}^3+{\left(\frac{t}{T}\right)}^4]\\ a=\frac{60a_{\max }}{5.7735}[\left(\frac{t}{T}\right)-3{\left(\frac{t}{T}\right)}^2+2{\left(\frac{t}{T}\right)}^3]\\ j=\frac{60a_{\max }}{5.7735}\frac{1}{T}[1-6{\left(\frac{t}{T}\right)}^2+6{\left(\frac{t}{T}\right)}^2]\\ T=\sqrt{\frac{5.7735S}{a_{\max }}}\end{array}\right.$

Wherein, t is the time, and s is displacement, and v is speed, and a is acceleration, and j is jerk, and T is that seedling claw is gone through each section straight path section required time, and S is the length that seedling claw is gone through each section straight path section, a _MaxBe the peak acceleration that allows in the seedling claw motion process.

The present invention has the following advantages:

(1) potted-seedling transplanting machine people's Working mode set is fast " location crawl, straight line rising, rectilinear translation, straight line decline and location transplanting ", the job requirements of satisfied the crawl of accurate location, transplanting, in addition, straight-line trajectory can also avoid seedling claw and pot seedling to interfere;

(2) characteristics of motion of every section straight-line trajectory all is set as " stop, accelerating, slow down, stop " four steps, and adopt the 5 order polynomial characteristics of motion as the operation control function of every section track, its displacement movement rule about the time one, second dervative is continuous, three order derivatives are limited, guaranteeing to have improved transplanting efficiency under the prerequisite that seedling claw operates steadily.

Description of drawings

The movement locus of seedling claw in Fig. 1 transplanting process.

Each straightway movement velocity line chart of Fig. 2.

Each straightway acceleration of motion line chart of Fig. 3.

Three kinds of characteristics of motion speed curve diagrams of Fig. 4.

Three kinds of characteristics of motion acceleration plots of Fig. 5.

Among the figure: 1. plant seedlings for seedling dish 2. and coil the movement locus 4.5 order polynomial characteristics of motion 5. cycloidal motions 6.7 order polynomial characteristics of motion of 3. seedling claws.

Embodiment

Below in conjunction with accompanying drawing, the invention will be further described:

As shown in Figure 1, in the potted-seedling transplanting operation, transplant the movement locus of robot seedling claw by three sections rectilinear(-al)s, the single cycle of operation is:

(1) vertically drops to center, hole, cave, the location A point that supplies seedling dish 1 pot seedling to be transplanted, get seedling;

(2) vertical lifting is to the B point;

(3) be moved horizontally to top, dish 2 hole, cave, the location C point that plants seedlings;

(4) vertically drop to dish 2 center, hole, cave, the location D point that plants seedlings, plant seedlings;

(5) vertical lifting is to the C point;

(6) move horizontally the top, hole, cave, location of getting back to for next pot seedling to be transplanted in the seedling dish 1.

This shows, seedling claw to the transplanting of each pot seedling need through passing, return two motion processes, and each process, seedling claw all will sequentially pass through " rising, translation, decline " three operation phase.

Such as Fig. 2, Figure 3 shows that the speed, the acceleration change line chart that adopt the 5 order polynomial characteristics of motion, each operation phase is followed " stop, accelerating, slow down, stop " this characteristics of motion as seen from the figure, the speed and the acceleration that are A, B, C, D point place are 0, the displacement movement rule of every section straight-line trajectory all is continuous about single order and the second dervative of time, and above feature has guaranteed that potted-seedling transplanting machine people gets the stationarity that seedling plants seedlings and moves.

Known that by the characteristics of motion theory characteristics of motion that meets above-mentioned condition has a lot, but commonly used cycloidal motion, 5 order polynomials and the 7 order polynomial characteristics of motion are arranged, they are at known displacement S and maximum permissible acceleration a _MaxCondition under, its characteristics of motion function model is as follows:

(1) cycloidal motion

$\left\{\begin{array}{c}s=a_{\mathrm{<figure-callout\; id="2"\; label="max\; T"\; filenames="HDA00002243398700011.png,HDA00002243398700021.png"\; state="\{\{state\}\}">max</figure-callout>}}\frac{T}{}\frac{}{2\mathrm{\&pi;}}(t-\frac{\mathrm{<figure-callout\; id="2"\; label="T"\; filenames="HDA00002243398700011.png,HDA00002243398700021.png"\; state="\{\{state\}\}">T</figure-callout>}}{2\mathrm{\&pi;}}\sin \left(\frac{2\mathrm{\&pi;}}{T}t\right))\\ v=a_{\mathrm{<figure-callout\; id="2"\; label="max\; T"\; filenames="HDA00002243398700011.png,HDA00002243398700021.png"\; state="\{\{state\}\}">max</figure-callout>}}\frac{T}{}\frac{}{2\mathrm{\&pi;}}(1-\cos \left(\frac{2\mathrm{\&pi;}}{T}t\right))\\ a=a_{\max }\sin \left(\frac{2\mathrm{\&pi;}}{T}t\right)\\ T=\sqrt{\frac{2\mathrm{\&pi;S}}{a_{\max }}}\end{array}\right.$

(2) the 5 order polynomial characteristics of motion

$\left\{\begin{array}{c}s=\frac{a_{\max }}{5.7735}{T}^2[10{\left(\frac{t}{T}\right)}^3-15{\left(\frac{t}{T}\right)}^4+6{\left(\frac{t}{T}\right)}^5]\\ v=\frac{30a_{\max }}{5.7735}T[{\left(\frac{t}{T}\right)}^2-2{\left(\frac{t}{T}\right)}^3+{\left(\frac{t}{T}\right)}^4]\\ a=\frac{60a_{\max }}{5.7735}[\left(\frac{t}{T}\right)-3{\left(\frac{t}{T}\right)}^2+2{\left(\frac{t}{T}\right)}^3]\\ T=\sqrt{\frac{5.7735S}{a_{\max }}}\end{array}\right.$

(3) the 7 order polynomial characteristics of motion

$\left\{\begin{array}{c}s=\frac{a_{\max }}{7.51}{T}^2[35{\left(\frac{t}{T}\right)}^4-84{\left(\frac{t}{T}\right)}^5+70{\left(\frac{t}{T}\right)}^6-20{\left(\frac{t}{T}\right)}^7]\\ v=\frac{140a_{\max }}{7.51}T[{\left(\frac{t}{T}\right)}^3-3{\left(\frac{t}{T}\right)}^4+{3\left(\frac{t}{T}\right)}^5-{\left(\frac{t}{T}\right)}^6]\\ a=\frac{420a_{\max }}{7.51}[{\left(\frac{t}{T}\right)}^2-4{\left(\frac{t}{T}\right)}^3+5{\left(\frac{t}{T}\right)}^4-2{\left(\frac{t}{T}\right)}^5]\\ T=\sqrt{\frac{7.51S}{a_{\max }}}\end{array}\right.$

In the above-mentioned characteristics of motion function model: t is the time, and s is displacement, and v is speed, and a is acceleration, and T is that seedling claw is gone through each section straight path section required time, and S is the length that seedling claw is gone through each section straight path section, a _MaxBe the peak acceleration that allows in the seedling claw motion process.

Get potted-seedling transplanting machine people pot seedling and move maximum permissible acceleration a _Max=60m/s ², straight line rises and falling head 120mm, moves horizontally distance and is 600mm, and it is as follows that the calculating seedling claw is finished 1 rising, translation and descending motion cycle required time T:

(1) sinusoidal motion rule

Press

Calculate each straightway run duration, must finish 1 period of motion required time:

T=0.122+0.250+0.122=0.494（S）

(2) the 5 order polynomial characteristics of motion

Press

Calculate each straightway run duration, must finish 1 period of motion required time:

T=0.107+0.240+0.107=0.454（S）

(3) the 7 order polynomial characteristics of motion

Press

Calculate each straightway run duration, must finish 1 period of motion required time:

T=0.122+0.274+0.122=0.518（S）

Find out that from above-mentioned result of calculation adopting the 5 order polynomial characteristics of motion to finish " rising, translation, decline ", to get the seedling period of motion required time that plants seedlings the shortest.

Applied mathematics software matlab obtains cycloidal motion, 5 order polynomials and the 7 order polynomial characteristics of motion at speed, the acceleration line chart of the motion of 600mm horizontal linear section, shown in Fig. 4,5, finds after the comparative analysis:

The maximal rate of (1) the 5 order polynomial characteristics of motion is less than cycloid and the 7 order polynomial characteristics of motion;

When (2) the 5 order polynomial characteristics of motion reach maximal rate, acceleration, used shortest time;

When potted-seedling transplanting machine people of the present invention adopts the 5 order polynomial characteristics of motion, the running stability of pot seedling that its seedling claw is got is better than cycloid and the 7 order polynomial characteristics of motion, the transplanting used time of pot seedling is less than cycloid and the 7 order polynomial characteristics of motion, therefore select the 5 order polynomial characteristics of motion as getting the seedling trajectory planning function that plants seedlings, can satisfy its stationarity requirement, improve transplanting efficiency.

Claims (5)

1. a potted-seedling transplanting machine people gets the seedling path planning that plants seedlings, it is characterized in that: the potted-seedling transplanting machine people action path planning of passing by of finishing and get seedling, plant seedlings is three sections motor patterns that straight line rising, rectilinear translation and straight line descend, be that seedling is got in seedling claw straight line decline above pot seedling to be got, quick straight line rises after getting seedling, rise to above translation behind the height of seedling and send seedling, transplant seedlings to the position of planting seedlings, straight line decline is planted seedlings fast again, finishes the Hou Yuanlu that plants seedlings and returns.

2. the seedling path of planting seedlings of getting according to claim 1, it is characterized in that: seedling claw is zero in the starting point of every section straight-line trajectory and speed and the acceleration of destination county.

3. the seedling path of planting seedlings of getting according to claim 1, it is characterized in that: for every section straight-line trajectory, the characteristics of motion of transplanting the robot seedling claw all is set as " stop, accelerating, slow down, stop " four steps.

4. the characteristics of motion according to claim 3, it is characterized in that: the displacement movement rule of every section straight-line trajectory all is continuous about single order and the second dervative of time.

5. according to claim 2,3,4 described straight-line trajectory and the characteristics of motion, it is characterized in that: the control function of every section straight-line trajectory is 5 order polynomials.

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