CN103163858A - Greenhouse fruit and vegetable robot picking-receiving collaborative work system and control method - Google Patents
Greenhouse fruit and vegetable robot picking-receiving collaborative work system and control method Download PDFInfo
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- CN103163858A CN103163858A CN2012105301805A CN201210530180A CN103163858A CN 103163858 A CN103163858 A CN 103163858A CN 2012105301805 A CN2012105301805 A CN 2012105301805A CN 201210530180 A CN201210530180 A CN 201210530180A CN 103163858 A CN103163858 A CN 103163858A
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Abstract
The invention relates to the field of agricultural robots, in particular to a greenhouse fruit and vegetable robot picking-receiving collaborative work system and a control method. By that the layout of electromagnetic guiding wires in an electromagnetic guidance system is matched with the interlock control of multiple automatic reset switches, the automatic sequential operation and the positioning search of a picking robot and a receiving robot are achieved, and then the joint and separation of the picking robot and the receiving robot can be achieved, so that the difficulty of collaborative work of two robots with different functions is effectively overcome through a simple structure and an easy control method.
Description
Technical field
The present invention relates to field of agricultural robots, particularly a kind of picking robot of fruits and vegetables of greenhouse-connect fortune coordinated operation system and control method.
Background technology
Developing into of picking robot technology solves the inevitable requirement that replaces manually realizing fruits and vegetables selectivity results, becomes the focus of Global Agriculture automation development, successively developed all kinds of model machines for Different Crop both at home and abroad; But picking robot itself is to very limited by the bearing space of fruit picking vegetables and load-bearing capacity, by picking robot complete simultaneously pluck and fruits and vegetables to store or the operating efficiency of processing region transportation in postpartum extremely low, completed by picking robot and production scene transportation equipment respectively and pluck and the work compound of movement is the inexorable trend that fruits and vegetables are gathered in the crops automation development; Although occurred at present for the conveyorization such as seedbed, potted flower in the greenhouse suspension cable, chain type or rail mounted device (Yang Tieshun etc. Greenhouse aerial nursery bed transport system, utility model patent, license number: ZL200820142172.2; Bai Yikui etc. span wire type transporter used for greenhouse, patent of invention, number of patent application publication number: CN101927892A; Tian Qiufeng. be used for the chain assembly of greenhouse potted flower carrying, utility model patent, Granted publication number: CN201932649U), dynamoelectric picking vehicle (the Wang Gang etc. that the labour carries out the artificial results of fruits and vegetables have also appearred being used for carrying in the greenhouse, dynamoelectric picking vehicle, utility model patent, the patent No.: 200420058719.2; Greenhouse electric results dolly, Japan, horticultural facility, in February, 1979 number; Yang Ren congruence, a kind of electro-hydraulic lift picking vehicle, utility model patent, license number: ZL200820233702.4), but there is not yet full-automatic transportation equipment with the picking robot supporting operation; The inventor herein has proposed fruits and vegetables of greenhouse and has met the concept (Liu Jizhan that transports robot, fruits and vegetables of greenhouse meets the fortune robot, patent of invention, number of patent application: 201210181314.7), by fruits and vegetables of greenhouse connect fortune robot automatically complete to connecing of fruit that picking robot is plucked put with the greenhouse in transport task.
Completing of above-mentioned task need to meet the fortune robot and coordinate with the effective of picking robot, thereby picking robot-connect fortune work compound is controlled to become and determined its job success ratio and efficient key.Patent of invention " fruits and vegetables of greenhouse connect fortune robot " has only provided the technical scheme that meets fortune robot itself, does not set up picking robot-connect system's formation and method that the fortune work compound is controlled.
Summary of the invention
In order effectively to improve picking robot, the invention provides a kind of picking robot of fruits and vegetables of greenhouse-connect fortune coordinated operation system and control method, can realize picking robot and the work compound that meets the fortune robot, thereby satisfy the requirement of transportation in fruits and vegetables of greenhouse robot results and greenhouse.
The technical solution adopted for the present invention to solve the technical problems is: comprise picking robot, connect fortune robot, electromagnetism guidance system and collision type clamping apparatus; In the electromagnetism guidance system, the signal end of electromagnetism guiding main line self-aiming signal generator picks out, and along the embedded underground of arterial highway, greenhouse, and through the ground end of guiding main line loop access signal generator; Respectively along passage between each cultivation bed underground bury underground successively and through electromagnetism guiding the 1st branch line of each guiding line loop access signal generator ground end, electromagnetism guiding the 2nd branch line, electromagnetism guiding the 3rd branch line until electromagnetism guiding n branch line respectively via the 1st branch line Non auto-reset travel switch, the 2nd branch line Non auto-reset travel switch, the 3rd branch line Non auto-reset travel switch until n branch line Non auto-reset travel switch b guides main line with electromagnetism is connected; The 1st branch line Non auto-reset travel switch, the 2nd branch line Non auto-reset travel switch, the 3rd branch line Non auto-reset travel switch disconnect its two contact until n branch line Non auto-reset travel switch triggers to reset when making its two closing of contact and only can oppositely arrive the relevant position by picking robot only can arrive the relevant position by the picking robot forward time.
The collision type clamping apparatus comprises collision insulation displacement connector and lock ring; The touching lever that connects collision insulation displacement connector on the lock ring shock picking robot of transporting on the robot front body makes it to retract until the push rod of electromagnet inserts pin-and-hole, two snap fits contact by contacting with the conical surface of touching lever to change over to the cylinder of touching lever simultaneously, make two to be hooked under the elastic force effect that spring ships and resell on another market and to close, connect fortune robot and picking robot and complete clamping; Its pusher retracted after the electromagnet energising, touching lever opposite shell under the thrust of spring ejects, two snap fits contact by contacting with the cylinder of touching lever to change over to the conical surface of touching lever, make two to be hooked under the elastic force effect that spring ships and resell on another market and to open, and make to connect fortune robot and picking robot disengaging clamping.
Picking robot is classified to fruit according to fruit size, weight and defect information that the detection system on picking robot obtains after plucking fruit, and puts into corresponding son fruit case; After fruit is piled, the electromagnet energising makes and connects lock ring and the disengaging of the collision insulation displacement connector on the picking robot clamping of transporting in robot, meet the fortune robot and walk in the other direction and trigger and store the treatment region travel switch, meet the fortune robot and stop walking and Pseudocarps is placed into stores in treatment region; Connect the walking of fortune robot forward and enter passage between the cultivation bed that electromagnetism guiding the 1st branch line institute buried underground, make the collision of collision insulation displacement connector and lock ring complete clamping, continue operation until electromagnetism is guided the picking fruit of the 1st branch line both sides completes; Subsequently, picking robot with meet the fortune robot and retreat the 1st branch line Non auto-reset travel switch is resetted, electromagnetism guiding the 1st branch line outage, picking robot with connect fortune arterial highway, Robot greenhouse and continue positive movement and trigger the 2nd branch line Non auto-reset travel switch after, make electromagnetism guiding the 2nd branch line pass to the single-frequency alternating current and other branch lines outages, picking robot with connect detecting coil in the fortune robot detect this electromagnetic field make its enter electromagnetism guide the 2nd branch line between the cultivation bed buried underground passage carry out operation; And so forth, until in the greenhouse all picking fruit and movements complete.
The invention has the beneficial effects as follows, lay and coordinating that a plurality of Non auto-reset travel switch interlockings are controlled by the electromagnetism guide wire of electromagnetism guidance system, realize picking robot and the automatic sequence operation and the location searching that meet the fortune robot, and then realize connecing engaging and disengagement of fortune robot and picking robot by the collision type clamping apparatus, efficiently solve the difficult problem of two difference in functionality robot work compounds with simple structure and easy control method.
Description of drawings
Fig. 1 is that in the greenhouse, the electromagnetism guide line is laid schematic diagram;
Fig. 2 is picking robot-connect fortune robot general structure schematic diagram;
Fig. 3 is picking robot-connect fortune robot collision type clamping apparatus schematic appearance;
Fig. 4 is the electromagnetism guiding of picking robot-connect fortune robot and clamping-disengaging control flow chart;
Fig. 5 is picking robot-connect fortune robot work compound control flow schematic diagram;
1. electromagnetism guiding the 1st branch lines in figure, 2. electromagnetism is guided the 2nd branch line, 3. electromagnetism is guided the 3rd branch line, 4. picking robot, 5. meet the fortune robot, 6. electromagnetism is guided main line, 7. guiding main line loop, 8. the 3rd branch line Non auto-reset travel switch, 9. the 2nd branch line Non auto-reset travel switch, 10. the 1st branch line Non auto-reset travel switch, 11. store the treatment region travel switch, 12. steering signal generator, a 13. guiding line loop, 14. son fruit case, 15. fruit case rotating shaft, 16. son fruit chamber door, 17. picking robot rear body, 18. shell, 19. touching lever, 20. snap fit, 21. spring is shipped and resell on another market, 22. lock ring, transport the robot front body 23. connect, 24. end cap, 25. spring, 26. the axle collar, 27. slide bar, 28. the conical surface, 29. cylinder, 30. pin-and-hole 31. electromagnet, a. electromagnetism is guided the n branch line, b. n branch line Non auto-reset travel switch.
Embodiment
The present invention is further described below in conjunction with drawings and Examples.
As Fig. 1～shown in Figure 5, the picking robot of this fruits and vegetables of greenhouse-connect the fortune coordinated operation system comprises picking robot 4, connects fortune robot 5, electromagnetism guidance system and collision type clamping apparatus; Wherein the electromagnetism guidance system comprise electromagnetism guiding the 1st branch line 1, electromagnetism guiding the 2nd branch line 2, electromagnetism guiding the 3rd branch line 3 until electromagnetism guiding n straight line a, the 1st branch line Non auto-reset travel switch the 10, the 2nd branch line Non auto-reset travel switch the 9, the 3rd branch line Non auto-reset travel switch 8 until n branch line Non auto-reset travel switch b, electromagnetism guiding main line 6, guiding main line loop 7, store treatment region travel switch 11, steering signal generator 12 and a guiding line loop 13.
as shown in Figure 1, the signal end of electromagnetism guiding main line 6 self-aiming signal generators 12 picks out, and along the embedded underground of arterial highway, greenhouse, and electromagnetism guiding main line 6 is communicated with guiding main line loop 7, guides the ground end that signal generators 12 are accessed in main line loop 7, the 1st branch line Non auto-reset travel switch the 10, the 2nd branch line Non auto-reset travel switch the 9, the 3rd branch line Non auto-reset travel switch 8 makes its two closing of contact until n branch line Non auto-reset travel switch b triggers only can arrive the relevant position by picking robot 4 forwards the time, and the 1st branch line Non auto-reset travel switch the 10, the 2nd branch line Non auto-reset travel switch the 9, the 3rd branch line Non auto-reset travel switch 8 disconnects its two contact until n branch line Non auto-reset travel switch b resets only can oppositely arrive the relevant position by picking robot 4 time, the 1st branch line Non auto-reset travel switch 10, the 2nd branch line Non auto-reset travel switch 9, the 3rd branch line Non auto-reset travel switch 8 is until the 1st branch line 1 is guided with electromagnetism guiding main line 6 and electromagnetism respectively in two contacts of n branch line Non auto-reset travel switch b, electromagnetism guiding the 2nd branch line 2, electromagnetism guiding the 3rd branch line 3 is until electromagnetism guiding n branch line a connection, electromagnetism guiding the 1st branch line 1, electromagnetism guiding the 2nd branch line 2, electromagnetism is guided the 3rd branch line 3 until electromagnetism guiding n branch line a buries underground successively along the underground of passage between each cultivation bed respectively, electromagnetism guiding the 1st branch line 1, electromagnetism guiding the 2nd branch line 2, electromagnetism guiding the 3rd branch line 3 is until electromagnetism guiding n branch line a props up line loop 13 with guiding separately respectively is communicated with, the ground end of each guiding line loop 13 access signal generators 12, electromagnetism guiding the 1st branch line 1, electromagnetism guiding the 2nd branch line 2, electromagnetism guiding the 3rd branch line 3 until electromagnetism guiding n branch line a mutually isolate, electromagnetism guiding the 1st branch line 1, electromagnetism guiding the 2nd branch line 2, electromagnetism guiding the 3rd branch line 3 until the guide wire separately loop 13 of electromagnetism guiding n branch line a only in signal generator 12 ground end in contact.
As Fig. 2～shown in Figure 4, the collision type clamping apparatus comprises collision insulation displacement connector and lock ring 22; The collision insulation displacement connector by shell 18, touching lever 19, snap fit 20, spring ship and resell on another market 21, end cap 24, spring 25, slide bar 27 and electromagnet 32 form; The collision type insulation displacement connector is fixed on picking robot rear body 17 by shell 18, and lock ring 22 is fixed in to connect to be transported on robot front body 23; Mounting spring 25 between the axle collar 26 of end cap 24 and slide bar 27, slide bar 27 is fixing by screw thread and touching lever 19, two symmetrical snap fits 20 are shipped and resell on another market by spring and 21 are installed on picking robot rear body 17, radially have pin-and-hole 30 in touching lever 19 front portions, and electromagnet 31 is installed on rear body 17.
As Fig. 1～Fig. 5, before operation picking robot 4 with meet fortune robot 5 in storing the district, the collision type clamping apparatus is in the clamping state.System initialization, signal generator 12 passes to the single-frequency alternating current to electromagnetism guiding main line 6, produce alternating electromagnetic field around electromagnetism guiding main line 6, picking robot 4 with connect detecting coil in fortune robot 5 and detect this electromagnetic field and make picking robot 4 and connect fortune robot 5 arterial highway, the greenhouse positive movement along electromagnetism guiding main line 6 places; After picking robot 4 arrives the relevant position and triggers the 1st branch line Non auto- reset travel switch 10,2 place's points of the 1st branch line Non auto-reset travel switch 10 engage, and guarantee that by interlock circuit the 2nd branch line Non auto-reset travel switch the 9, the 3rd branch line Non auto-reset travel switch 8 except the 1st branch line Non auto-reset travel switch 10 is until two contacts of n branch line Non auto-reset travel switch b are in off-state simultaneously; Signal generator 12 passes to the single-frequency alternating current to electromagnetism guiding the 1st branch line 1, produce alternating electromagnetic field around electromagnetism guiding the 1st branch line 1, picking robot 4 with connect detecting coil in fortune robot 5 and detect this electromagnetic field and make picking robot 4 and transport robot 5 and enter electromagnetism and guide that between the cultivation bed that 1 quilt of the 1st branch line buries underground, passage carries out operation with connecing.
as shown in Figure 2, after picking robot 4 is plucked fruit, according to fruit size, weight and defect information that the detection system on picking robot 4 obtains, fruit is classified, and put into corresponding son fruit case 14, complete when the picking fruit of certain position, picking robot 4 and meet fortune robot 5 and advance along passage between this cultivation bed continues to complete picking fruit and classification and puts into the fruit casing working, piles until connect the interior fruit of son fruit case 14 of fortune robot 5, after the interior fruit of son fruit case 14 that meets fortune robot 5 is piled, its pusher retracted after electromagnet 31 energisings, touching lever 19 opposite shell 18 under the thrust of spring 25 ejects, two snap fits 20 contact by contacting with the cylinder 29 of touching lever to change over to the conical surface 28 of touching lever, two snap fits 20 under shipping and reselling on another market 21 elastic force effect, are opened by spring, connect that fortune robot 5 leaves picking robot 4 and along electromagnetism guiding the 1st branch line 1 walking in the other direction, at this moment, electromagnet 31 outages are ejected its push rod, run to the relevant position in the other direction and trigger and store treatment region travel switch 11 when meeting fortune robot 5, connect fortune robot 5 stop the walking, fruit case rotating shaft 15 is rotated, each son fruit chamber door 16 is opened in succession, Pseudocarps is placed into stores in treatment region, then, connect and transport the alternating electromagnetic field that robot 5 detects electromagnetism guiding main line 6 and electromagnetism guiding the 1st branch line 1, and then enter passage between the cultivation bed that 1 quilt of electromagnetism guiding the 1st branch line buries underground along electromagnetism guiding main line 6 and electromagnetism guiding the 1st branch line 1 forward walking, until be fixed in the touching lever 19 that connects on the lock ring 22 shock picking robots 4 of transporting on robot front body 23, touching lever 19 and slide bar 27 opposite shell 18 are retracted, until the push rod position that pin-and-hole 30 arrives over against electromagnet 31, the push rod of electromagnet 31 inserts pin-and-hole 30 under the effect of electromagnet 31 built-in springs, two snap fits 20 contact by contacting with the conical surface 28 of touching lever to change over to the cylinder 29 of touching lever simultaneously, two snap fits 20 under shipping and reselling on another market 21 elastic force effect, are closed by spring, connect fortune robot 5 and picking robot 4 and complete clamping, continue to complete picking fruit and classification and put into the fruit casing working, so repeatedly, until the picking fruit of electromagnetism guiding the 1st branch line 1 both sides is completed.
After the picking fruit of electromagnetism guiding the 1st branch line 1 both sides is completed, picking robot 4 with meet fortune robot 5 and retreat along electromagnetism guiding the 1st branch line 1 the 1st branch line Non auto-reset travel switch 10 is resetted, 2 place's points of the 1st branch line Non auto-reset travel switch 10 disconnect, picking robot 4 detects alternating electromagnetic field around electromagnetism guiding main line 6 with meeting fortune robot 5, and then continues positive movement along the arterial highway, greenhouse at electromagnetism guiding main line 6 places; After picking robot 4 arrives the relevant position and triggers the 2nd branch line Non auto- reset travel switch 9,2 place's points of the 2nd branch line Non auto-reset travel switch 9 engage, and guarantee that by interlock circuit the 1st branch line Non auto-reset travel switch the 10, the 3rd branch line Non auto-reset travel switch 8 except the 2nd branch line Non auto-reset travel switch 9 is until two contacts of n branch line Non auto-reset travel switch b are in off-state simultaneously; Signal generator 12 passes to the single-frequency alternating current to electromagnetism guiding the 2nd branch line 2, produce alternating electromagnetic field around electromagnetism guiding the 2nd branch line 2, picking robot 4 with connect detecting coil in fortune robot 5 and detect this electromagnetic field and make picking robot 4 and transport robot 5 and enter electromagnetism and guide that between the cultivation bed that 2 quilts of the 2nd branch line bury underground, passage carries out operation with connecing.
And so forth, until in the greenhouse all picking fruit and movements complete.
Claims (3)
1. the picking robot of a fruits and vegetables of greenhouse-connect the fortune coordinated operation system comprises the picking robot (4) that is arranged in cultivation bed and meets fortune robot (5), it is characterized in that: also be provided with electromagnetism guidance system and collision type clamping apparatus, the electromagnetism guidance system comprises that electromagnetism guiding the 1st branch line (1), electromagnetism guiding the 2nd branch line (2), electromagnetism guiding the 3rd branch line (3) are until electromagnetism guiding n straight line (a), the 1st branch line Non auto-reset travel switch (10), the 2nd branch line Non auto-reset travel switch (9), the 3rd branch line Non auto-reset travel switch (8) be until n branch line Non auto-reset travel switch (b), stores treatment region travel switch (11), electromagnetism guiding main line (6), guiding main line loop (7), steering signal generator (12) and guiding and prop up a line loop (13), the signal end of electromagnetism guiding main line 6 self-aiming signal generators (12) picks out, and along the embedded underground of arterial highway, greenhouse, electromagnetism guiding main line (6) is communicated with guiding main line loop (7), guides the ground end that signal generator (12) is accessed in main line loop (7), the 1st branch line Non auto-reset travel switch (10), the 2nd branch line Non auto-reset travel switch (9), the 3rd branch line Non auto-reset travel switch (8) is until the 1st branch line (1) is guided with electromagnetism guiding main line (6) and electromagnetism respectively in two contacts of n branch line Non auto-reset travel switch (b), electromagnetism guiding the 2nd branch line (2), electromagnetism guiding the 3rd branch line (3) is until electromagnetism guiding n branch line (a) connection, two contacts that store treatment region travel switch (11) are connected with electromagnetism guiding main line (6), electromagnetism guiding the 1st branch line (1), electromagnetism guiding the 2nd branch line (2), electromagnetism is guided the 3rd branch line (3) until electromagnetism guiding n branch line (a) is buried underground successively along the underground of passage between each cultivation bed respectively, electromagnetism guiding the 1st branch line (1), electromagnetism guiding the 2nd branch line (2), electromagnetism guiding the 3rd branch line (3) is until electromagnetism guiding n branch line (a) props up line loop (13) with guiding separately respectively is communicated with, the ground end of each guiding line loop (13) access signal generator (12), the 1st branch line Non auto-reset travel switch (10), the 2nd branch line Non auto-reset travel switch (9), the 3rd branch line Non auto-reset travel switch (8) makes its two closing of contact until n branch line Non auto-reset travel switch (b) triggers only can arrive the relevant position by picking robot (4) forward the time, the 1st branch line Non auto-reset travel switch (10), the 2nd branch line Non auto-reset travel switch (9), the 3rd branch line Non auto-reset travel switch (8) disconnects its two contact until n branch line Non auto-reset travel switch (b) only can be resetted when oppositely arriving the relevant position by picking robot (4), the collision type clamping apparatus comprises collision insulation displacement connector and lock ring (22), the collision insulation displacement connector by shell (18), touching lever (19), snap fit (20), spring ship and resell on another market (21), end cap (24), spring (25), slide bar (27) and electromagnet (32) form, the collision type insulation displacement connector is fixed on picking robot rear body (17) by shell (18), lock ring (22) is fixed in and connects on fortune robot front body (23), mounting spring (25) between the axle collar (26) of end cap (24) and slide bar (27), slide bar (27) is fixing by screw thread and touching lever (19), two symmetrical snap fits (20) by spring ship and resell on another market (21) be installed on picking robot rear body (17), radially have pin-and-hole (30) in touching lever (19) front portion, electromagnet (31) is installed on rear body 17.
2. the picking robot of a kind of fruits and vegetables of greenhouse according to claim 1-connect fortune coordinated operation system, it is characterized in that: electromagnetism guiding the 1st branch line (1), electromagnetism guiding the 2nd branch line (2), electromagnetism guide the 3rd branch line (3) until electromagnetism guides n branch line (a) mutual isolation, and electromagnetism guiding the 1st branch line (1), electromagnetism are guided the 2nd branch line (2), electromagnetism guides the 3rd branch line (3) until electromagnetism is guided the loop of guide wire separately (13) of n branch line (a) only in signal generator 12 ground end in contact.
3. the control method of the picking robot of a kind of fruits and vegetables of greenhouse according to claim 1-connect fortune coordinated operation system is characterized in that comprising following concrete steps:
(1) original state
Before operation picking robot (4) with meet fortune robot (5) in storing the district, the collision type clamping apparatus is in the clamping state;
(2) the electromagnetism guiding is advanced along arterial highway, greenhouse forward
Signal generator (12) passes to the single-frequency alternating current to electromagnetism guiding main line (6), produce alternating electromagnetic field around electromagnetism guiding main line 6, picking robot (4) detects this electromagnetic field and makes picking robot (4) and connect the greenhouse arterial highway positive movement of fortune robot (5) along electromagnetism guiding main line (6) place with the detecting coil that connects in fortune robot (5);
(3) the electromagnetism guiding enters passage between cultivation bed
After picking robot (4) arrives the relevant position and triggers the 1st branch line Non auto-reset travel switch (10), 2 place's points of the 1st branch line Non auto-reset travel switch (10) engage, and guarantee that by interlock circuit the 2nd branch line Non auto-reset travel switch (9), the 3rd branch line Non auto-reset travel switch (8) except the 1st branch line Non auto-reset travel switch (10) is until two contacts of n branch line Non auto-reset travel switch (b) are in off-state simultaneously; Signal generator (12) passes to the single-frequency alternating current to electromagnetism guiding the 1st branch line (1), produce alternating electromagnetic field on every side at electromagnetism guiding the 1st branch line (1), picking robot (4) with connect detecting coil in fortune robot (5) detect this electromagnetic field and make picking robot (4) with connect transport robot (5) enter electromagnetism guide the 1st branch line (1) between the cultivation bed buried underground passage carry out operation;
(4) picking fruit and classification are placed
Picking robot (4) is classified to fruit according to fruit size, weight and defect information that the detection system on picking robot (4) obtains after plucking fruit, and puts into corresponding son fruit case (14);
(5) connect the disengagement of fortune robot and picking robot
Complete when the picking fruit of certain position, picking robot (4) and meet fortune robot (5) and advance along passage between this cultivation bed continues to complete picking fruit and classification and puts into the fruit casing working, piles until connect the interior fruit of son fruit case (14) of fortune robot (5); After in the son fruit case (14) that meets fortune robot (5), fruit is piled, its pusher retracted after electromagnet (31) energising, touching lever (19) opposite shell (18) under the thrust of spring (25) ejects, two snap fits (20) contact by contacting with the cylinder (29) of touching lever to change over to the conical surface (28) of touching lever, two snap fits (20) are shipped and resell on another market at spring to be opened under the elastic force effect of (21), meeting fortune robot (5) throws off with picking robot (4), at this moment, electromagnet (31) outage is ejected its push rod;
(6) in the greenhouse of fruit, fruit is unloaded in movement and classification
Meet fortune robot (5) along electromagnetism guiding the 1st branch line (1) walking in the other direction, run in the other direction the relevant position and trigger and store treatment region travel switch (11) when meeting fortune robot (5), meet fortune robot (5) and stop walking, fruit case rotating shaft (15) is rotated, each son fruit chamber door (16) is opened in succession, Pseudocarps is placed into stores in treatment region;
(7) connect the location searching of fortune robot and picking robot and engaging
then, connect the alternating electromagnetic field that fortune robot (5) detects electromagnetism guiding main line (6) and electromagnetism guiding the 1st branch line (1), and then along electromagnetism guiding main line (6) and the walking of electromagnetism guiding the 1st branch line (1) forward enter electromagnetism guide the 1st branch line (1) passage between the cultivation bed buried underground, until be fixed in the touching lever (19) that connects on lock ring (22) the shock picking robot (4) of transporting on robot front body (23), touching lever (19) and slide bar (27) opposite shell (18) are retracted, until pin-and-hole (30) arrives the push rod position over against electromagnet (31), the push rod of electromagnet (31) inserts pin-and-hole (30) under the effect of the built-in spring of electromagnet (31), two snap fits (20) contact by contacting with the conical surface (28) of touching lever to change over to the cylinder (29) of touching lever simultaneously, two snap fits (20) are shipped and resell on another market at spring to be closed under the elastic force effect of (21), meet fortune robot (5) and complete clamping with picking robot (4), continue to complete picking fruit and classification and put into the fruit casing working, so repeatedly, until the picking fruit of electromagnetism guiding the 1st branch line (1) both sides complete,
What (8) connect fortune robot and picking robot changes the cultivation bed operation
After the picking fruit of electromagnetism guiding the 1st branch line (1) both sides is completed, picking robot (4) with meet fortune robot (5) and retreat along electromagnetism guiding the 1st branch line (1) the 1st branch line Non auto-reset travel switch (10) is resetted, 2 place's points of the 1st branch line Non auto-reset travel switch (10) disconnect, picking robot (4) detects electromagnetism guiding main line (6) alternating electromagnetic field on every side with meeting fortune robot (5), and then guides arterial highway, the greenhouse continuation positive movement at main line (6) place along electromagnetism; After picking robot (4) arrives the relevant position and triggers the 2nd branch line Non auto-reset travel switch (9), 2 place's points of the 2nd branch line Non auto-reset travel switch (9) engage, and guarantee that by interlock circuit the 1st branch line Non auto-reset travel switch (10), the 3rd branch line Non auto-reset travel switch (8) except the 2nd branch line Non auto-reset travel switch (9) is until two contacts of n branch line Non auto-reset travel switch (b) are in off-state simultaneously; Signal generator (12) passes to the single-frequency alternating current to electromagnetism guiding the 2nd branch line (2), produce alternating electromagnetic field on every side at electromagnetism guiding the 2nd branch line (2), picking robot (4) with connect detecting coil in fortune robot (5) detect this electromagnetic field and make picking robot (4) with connect transport robot (5) enter electromagnetism guide the 2nd branch line (2) between the cultivation bed buried underground passage carry out operation; And so forth, until in the greenhouse all picking fruit and movements complete.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210530180.5A CN103163858B (en) | 2012-12-11 | 2012-12-11 | Greenhouse fruit and vegetable robot picking-receiving collaborative work system and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210530180.5A CN103163858B (en) | 2012-12-11 | 2012-12-11 | Greenhouse fruit and vegetable robot picking-receiving collaborative work system and control method |
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| CN103163858A true CN103163858A (en) | 2013-06-19 |
| CN103163858B CN103163858B (en) | 2015-04-22 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112703892A (en) * | 2020-12-23 | 2021-04-27 | 李海生 | Picking tool and picking method thereof |
| CN113924861A (en) * | 2021-11-05 | 2022-01-14 | 广东省农业科学院蔬菜研究所 | Automatic harvesting system for greenhouse vegetable cultivation |
| CN114847005A (en) * | 2022-04-27 | 2022-08-05 | 赵继安 | Fruit picking system and operation method thereof |
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| CN114847005A (en) * | 2022-04-27 | 2022-08-05 | 赵继安 | Fruit picking system and operation method thereof |
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