CN103163858B - 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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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-connect fortune coordinated operation system of fruits and vegetables of greenhouse and control method.
Background technology
Developing into of picking robot technology solves the inevitable requirement that replacement manually realizes fruits and vegetables selectivity results, becomes the focus of Global Agriculture automation development, successively develops all kinds of model machines for Different Crop both at home and abroad; But picking robot itself to by the bearing space of fruit picking vegetables and load-bearing capacity very limited, by picking robot complete simultaneously pluck and fruits and vegetables extremely low to the operating efficiency stored or postharvest treatment region is transported, complete by picking robot and production scene transportation equipment the inexorable trend that harvesting and the work compound of movement are fruits and vegetables results automation developments respectively; Although occurred at present for the suspension cable of the conveyorization such as seedbed, potted flower in greenhouse, 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. for the chain assembly of greenhouse potted flower carrying, utility model patent, Authorization Notice No.: CN201932649U), also occurred carrying out for carrying labour in greenhouse the dynamoelectric picking vehicle (Wang Gang etc. that fruits and vegetables manually gather in the crops, 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 the full-automatic transportation equipment with picking robot supporting operation; Inventor herein proposes the concept (Liu Jizhan of fruits and vegetables of greenhouse Jie Yun robot, fruits and vegetables of greenhouse Jie Yun robot, patent of invention, number of patent application: 201210181314.7), by fruits and vegetables of greenhouse Jie Yun robot automatically to complete picking robot pluck connecing of fruit and put and transport task in greenhouse.
Completing of above-mentioned task, needs Jie Yun robot to coordinate with the effective of picking robot, thus picking robot-connect fortune work compound to control to become its job success ratio of decision and efficiency key.Patent of invention " fruits and vegetables of greenhouse Jie Yun robot " only gives the technical scheme of Jie Yun robot itself, does not set up System's composition and method that picking robot-connect fortune work compound controls.
Summary of the invention
In order to effectively 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, the work compound of picking robot and Jie Yun robot can be realized, thus meet the requirement of fruits and vegetables of greenhouse robot results and warm indoor transporting.
The technical solution adopted for the present invention to solve the technical problems is: comprise picking robot, Jie Yun robot, electromagnetism guidance system and collision type clamping apparatus; In 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; Bury underground successively along the underground of passage between each cultivation bed respectively and electromagnetism guiding the 1st branch line prop up line loop access signal generator through each guiding held, electromagnetism guiding the 2nd branch line, electromagnetism guiding the 3rd branch line until electromagnetism guide the n-th 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 the n-th branch line Non auto-reset travel switch b guides main line with electromagnetism is connected; 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 are until the n-th branch line Non auto-reset travel switch only can make its two contact disconnect by resetting when triggering during picking robot forward arrival relevant position and make its two closing of contact and only can oppositely arrive relevant position by picking robot.
Collision type clamping apparatus comprises collision insulation displacement connector and lock ring; Lock ring on Jie Yun robot front body clashes into touching lever picking robot colliding insulation displacement connector to be made it to retract until the push rod of electromagnet inserts pin-and-hole, two snap fits contact with the cylinder of touching lever by proceeding to the taper-face contact of touching lever simultaneously, close under make two to be hooked in elastic force effect that spring ships and resell on another market, Jie Yun robot and picking robot complete clamping; Its pusher retracted after electromagnet energising, touching lever opposite shell under the thrust of spring ejects, two snap fits contact by with the cylinder of touching lever the taper-face contact proceeded to touching lever, and open under make two to be hooked in elastic force effect that spring ships and resell on another market, Shi Jieyun robot and picking robot depart from clamping.
Picking robot is classified to fruit according to fruit size, weight and the defect information that the detection system on picking robot obtains after plucking fruit, and puts into corresponding son fruit case; After fruit is piled, lock ring in electromagnet energising Shi Jieyun robot and the collision insulation displacement connector on picking robot depart from clamping, Jie Yun robot walks and triggers in the other direction and stores treatment region travel switch, and Jie Yun robot stops walking and be placed into by Pseudocarps storing in treatment region; The walking of Jie Yun robot forward enters electromagnetism guiding the 1st branch line institute by passage between the cultivation bed buried underground, and make collision insulation displacement connector and lock ring collides clamping, continuation operation is until the picking fruit that electromagnetism guides the 1st branch line both sides completes; Subsequently, picking robot and Jie Yun robot retreat and the 1st branch line Non auto-reset travel switch are resetted, electromagnetism guiding the 1st branch line power-off, picking robot is transported arterial highway, Robot greenhouse and is continued positive movement and after triggering the 2nd branch line Non auto-reset travel switch with connecing, make electromagnetism guide the 2nd branch line and pass to single-frequency alternating current and other branch line power-off, the detecting coil in picking robot and Jie Yun robot detect this electromagnetic field make its enter electromagnetism guide the 2nd branch line carried out operation by passage between the cultivation bed buried underground; And so forth, until picking fruits all in greenhouse and movement complete.
The invention has the beneficial effects as follows, laid by the electromagnetism guide wire of electromagnetism guidance system and to interlock coordinating of controlling with multiple Non auto-reset travel switch, the automatic sequence operation realizing picking robot and Jie Yun robot is found with locating, and then joint and the disengagement of Jie Yun robot and picking robot is realized by collision type clamping apparatus, a difficult problem for two difference in functionality robot work compounds is efficiently solved with simple structure and easy control method.
Accompanying drawing explanation
Fig. 1 is that in greenhouse, electromagnetism guide line lays schematic diagram;
Fig. 2 is picking robot-Jie Yun robot general structure schematic diagram;
Fig. 3 is picking robot-Jie Yun robot collision type clamping apparatus schematic appearance;
Fig. 4 is the guiding of picking robot-connect fortune electromagnetic and clamping-disengaging control flow chart;
Fig. 5 is picking robot-Jie Yun robot work compound control flow schematic diagram;
1. electromagnetism guiding the 1st branch lines in figure, 2. electromagnetism guiding the 2nd branch line, 3. electromagnetism guiding the 3rd branch line, 4. picking robot, 5. Jie Yun robot, 6. electromagnetism guiding main line, 7. guide 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 treatment region travel switch, 12. pilot generator, a 13. guiding line loop, 14. son fruit casees, 15. fruit case rotating shafts, 16. son fruit chamber doors, 17. picking robot rear bodies, 18. shells, 19. touching levers, 20. snap fits, 21. springs are shipped and resell on another market, 22. lock rings, 23. Jie Yun robot front bodies, 24. end caps, 25. springs, 26. axle collars, 27. slide bars, 28. conical surfaces, 29. cylinders, 30. pin-and-hole 31. electromagnet, a. electromagnetism guides the n-th branch line, b. the n-th branch line Non auto-reset travel switch.
Embodiment
below in conjunction with drawings and Examples, the present invention is further described.
As shown in Fig. 1 ~ Fig. 5, the picking robot of this fruits and vegetables of greenhouse-connect fortune coordinated operation system comprises picking robot 4, Jie Yun robot 5, electromagnetism guidance system and collision type clamping apparatus; Wherein electromagnetism guidance system comprises electromagnetism guiding the 1st branch line 1, electromagnetism guiding the 2nd branch line 2, electromagnetism guiding the 3rd branch line 3 until electromagnetism guides the n-th branch 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 the n-th branch line Non auto-reset travel switch b, electromagnetism guiding main line 6, guiding main line loop 7, store treatment region travel switch 11, pilot 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 generator 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, 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 is until the n-th branch line Non auto-reset travel switch b only can make its two closing of contact by triggering during picking robot 4 forward arrival relevant position, 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 make its two contact disconnect until reset when the n-th branch line Non auto-reset travel switch b only can oppositely arrive relevant position by picking robot 4, 1st branch line Non auto-reset travel switch 10, 2nd branch line Non auto-reset travel switch 9, 3rd branch line Non auto-reset travel switch 8 is until two contacts of the n-th branch line Non auto-reset travel switch b guide main line 6 with electromagnetism respectively and electromagnetism guides the 1st branch line 1, electromagnetism guiding the 2nd branch line 2, electromagnetism guiding the 3rd branch line 3 is until electromagnetism guides the n-th branch line a connects, electromagnetism guiding the 1st branch line 1, electromagnetism guiding the 2nd branch line 2, electromagnetism guiding the 3rd branch line 3 is until electromagnetism guides the n-th 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 guides the n-th branch line a props up line loop 13 with respective guiding respectively and be communicated with, the ground end that line loop 13 accesses signal generator 12 is propped up in each guiding, electromagnetism guiding the 1st branch line 1, electromagnetism guiding the 2nd branch line 2, electromagnetism guiding the 3rd branch line 3 until electromagnetism to guide the n-th branch line a mutually isolated, electromagnetism guiding the 1st branch line 1, electromagnetism guiding the 2nd branch line 2, electromagnetism guiding the 3rd branch line 3 are until electromagnetism guides the respective guide wire loop 13 of the n-th branch line a only in signal generator 12 ground end in contact.
As shown in Figure 2 to 4, collision type clamping apparatus comprises collision insulation displacement connector and lock ring 22; Collision insulation displacement connector ships and resell on another market 21 by shell 18, touching lever 19, snap fit 20, spring, end cap 24, spring 25, slide bar 27 and electromagnet 31 form; Collision type insulation displacement connector is fixed on picking robot rear body 17 by shell 18, and lock ring 22 is fixed on Jie Yun robot front body 23; Mounting spring 25 between end cap 24 and the axle collar 26 of slide bar 27, slide bar 27 is fixed 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, have pin-and-hole 30, rear body 17 is provided with electromagnet 31 in the anterior radial direction of touching lever 19.
As Fig. 1 ~ Fig. 5, before operation, picking robot 4 and Jie Yun robot 5 are storing in district, and collision type clamping apparatus is in clamped condition.System initialization, signal generator 12 passes to single-frequency alternating current to electromagnetism guiding main line 6, around electromagnetism guiding main line 6, produce alternating electromagnetic field, picking robot 4 and the detecting coil in Jie Yun robot 5 detect this electromagnetic field and make picking robot 4 and Jie Yun robot 5 guide arterial highway, the greenhouse positive movement at main line 6 place along electromagnetism; After picking robot 4 arrives relevant position and triggers the 1st branch line Non auto-reset travel switch 10, by interlock circuit, two engagement contacts of the 1st branch line Non auto-reset travel switch 10, simultaneously ensure that 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 the n-th branch line Non auto-reset travel switch b are in off-state; Signal generator 12 passes to single-frequency alternating current to electromagnetism guiding the 1st branch line 1, around electromagnetism guiding the 1st branch line 1, produce alternating electromagnetic field, the detecting coil in picking robot 4 and Jie Yun robot 5 detect this electromagnetic field and make picking robot 4 and Jie Yun robot 5 enter electromagnetism guide the 1st branch line 1 carried out operation by passage between the cultivation bed buried underground.
As shown in Figure 2, after picking robot 4 plucks fruit, according to fruit size, weight and the defect information that the detection system on picking robot 4 obtains, fruit is classified, and put into corresponding son fruit case 14, when the picking fruit of certain position is complete, picking robot 4 and Jie Yun robot 5 advance along passage between this cultivation bed, have continued picking fruit and fruit casing working is put in classification, until fruit is piled in the son fruit case 14 of Jie Yun robot 5, after in the son fruit case 14 of Jie Yun robot 5, fruit is piled, its pusher retracted after electromagnet 31 is energized, touching lever 19 opposite shell 18 under the thrust of spring 25 ejects, two snap fits 20 contact with the conical surface 28 of touching lever by contacting to proceed to the cylinder 29 of touching lever, make two snap fits 20 spring ship and resell on another market 21 elastic force effect under open, Jie Yun robot 5 leaves picking robot 4 and along the walking in the other direction of electromagnetism guiding the 1st branch line 1, now, electromagnet 31 power-off makes its push rod eject, treatment region travel switch 11 is stored when Jie Yun robot 5 runs to relevant position triggering in the other direction, Jie Yun robot 5 stops walking, fruit case rotating shaft 15 is rotated, each son fruit chamber door 16 is opened in succession, being placed into by Pseudocarps stores in treatment region, then, Jie Yun robot 5 detects the alternating electromagnetic field of 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 guiding the 1st branch line 1 by passage between the cultivation bed buried underground, until the lock ring 22 be fixed on Jie Yun robot front body 23 clashes into the touching lever 19 on picking robot 4, touching lever 19 and slide bar 27 opposite shell 18 are retracted, until pin-and-hole 30 arrives just to the push rod position of 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 with the cylinder 29 of touching lever by contacting to proceed to the conical surface 28 of touching lever simultaneously, make two snap fits 20 spring ship and resell on another market 21 elastic force effect under close, Jie Yun robot 5 and picking robot 4 complete clamping, continue picking fruit and classification and put into fruit casing working, so repeatedly, until the picking fruit of electromagnetism guiding the 1st branch line 1 both sides completes.
Electromagnetism guiding the 1st branch line 1 both sides picking fruit complete after, picking robot 4 and Jie Yun robot 5 guide the 1st branch line 1 along electromagnetism and retreat and to relevant position, the 1st branch line Non auto-reset travel switch 10 is resetted, two contacts of the 1st branch line Non auto-reset travel switch 10 disconnect, picking robot 4 and Jie Yun robot 5 detect that electromagnetism guides the alternating electromagnetic field around main line 6, and then continue positive movement along the arterial highway, greenhouse at electromagnetism guiding main line 6 place; After picking robot 4 arrives relevant position and triggers the 2nd branch line Non auto-reset travel switch 9, by interlock circuit, two engagement contacts of the 2nd branch line Non auto-reset travel switch 9, simultaneously ensure that 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 the n-th branch line Non auto-reset travel switch b are in off-state; Signal generator 12 passes to single-frequency alternating current to electromagnetism guiding the 2nd branch line 2, around electromagnetism guiding the 2nd branch line 2, produce alternating electromagnetic field, the detecting coil in picking robot 4 and Jie Yun robot 5 detect this electromagnetic field and make picking robot 4 and Jie Yun robot 5 enter electromagnetism guide the 2nd branch line 2 carried out operation by passage between the cultivation bed buried underground.
And so forth, until picking fruits all in greenhouse and movement complete.
Claims (3)
1. the picking robot-connect a fortune coordinated operation system of fruits and vegetables of greenhouse, comprises the picking robot (4) and Jie Yun robot (5) that are arranged in cultivation bed, it is characterized in that: be also provided with electromagnetism guidance system and collision type clamping apparatus, electromagnetism guidance system comprises electromagnetism guiding the 1st branch line (1), electromagnetism guiding the 2nd branch line (2), electromagnetism guiding the 3rd branch line (3) until electromagnetism guides the n-th branch line (a), 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), until the n-th branch line Non auto-reset travel switch (b), store treatment region travel switch (11), electromagnetism guiding main line (6), guiding main line loop (7), pilot generator (12) and a guiding line loop (13), the signal end of electromagnetism guiding main line (6) self-aiming signal generator (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), the ground end of guiding main line loop (7) access signal generator (12), 1st branch line Non auto-reset travel switch (10), 2nd branch line Non auto-reset travel switch (9), 3rd branch line Non auto-reset travel switch (8) is until two contacts of the n-th branch line Non auto-reset travel switch (b) guide main line (6) with electromagnetism respectively and electromagnetism guides the 1st branch line (1), electromagnetism guiding the 2nd branch line (2), electromagnetism guiding the 3rd branch line (3) is until electromagnetism guides the n-th branch line (a) connection, two contacts storing treatment region travel switch (11) are guided main line (6) with electromagnetism and are connected, electromagnetism guiding the 1st branch line (1), electromagnetism guiding the 2nd branch line (2), electromagnetism guiding the 3rd branch line (3) is until electromagnetism guides the n-th 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 guides the n-th branch line (a) props up line loop (13) respectively with respective guiding and be communicated with, the ground end of line loop (13) access signal generator (12) is propped up in each guiding, 1st branch line Non auto-reset travel switch (10), 2nd branch line Non auto-reset travel switch (9), 3rd branch line Non auto-reset travel switch (8) is until the n-th branch line Non auto-reset travel switch (b) only can make its two closing of contact by triggering during picking robot (4) forward arrival relevant position, 1st branch line Non auto-reset travel switch (10), 2nd branch line Non auto-reset travel switch (9), 3rd branch line Non auto-reset travel switch (8) makes its two contact disconnect until reset when the n-th branch line Non auto-reset travel switch (b) only can oppositely arrive relevant position by picking robot (4), collision type clamping apparatus comprises collision insulation displacement connector and lock ring (22), collision insulation displacement connector is shipped and resell on another market (21) by shell (18), touching lever (19), snap fit (20), spring, end cap (24), spring (25), slide bar (27) and electromagnet (31) form, collision type insulation displacement connector is fixed on picking robot rear body (17) by shell (18), lock ring (22) is fixed in Jie Yun robot front body (23), mounting spring (25) between end cap (24) and the axle collar (26) of slide bar (27), slide bar (27) is fixed 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), have pin-and-hole (30) in touching lever (19) anterior radial direction, rear body (17) is provided with electromagnet (31).
2. the picking robot-connect fortune coordinated operation system of a kind of fruits and vegetables of greenhouse according to claim 1, it is characterized in that: electromagnetism guiding the 1st branch line (1), electromagnetism guiding the 2nd branch line (2), electromagnetism guiding the 3rd branch line (3) until electromagnetism to guide the n-th branch line (a) mutually isolated, electromagnetism guiding the 1st branch line (1), electromagnetism guiding the 2nd branch line (2), electromagnetism guiding the 3rd branch line (3) until electromagnetism guide the n-th branch line (a) respective guide wire loop (13) only in signal generator (12) ground end in contact.
3. the control method of picking robot-the connect fortune coordinated operation system of a kind of fruits and vegetables of greenhouse according to claim 1, is characterized in that comprising following concrete steps:
(1) original state
Before operation, picking robot (4) and Jie Yun robot (5) are storing in district, and collision type clamping apparatus is in clamped condition;
(2) electromagnetism guiding is advanced along arterial highway, greenhouse forward
Signal generator (12) passes to single-frequency alternating current to electromagnetism guiding main line (6), around electromagnetism guiding main line (6), produce alternating electromagnetic field, picking robot (4) and the detecting coil in Jie Yun robot (5) detect this electromagnetic field and make picking robot (4) and Jie Yun robot (5) guide arterial highway, the greenhouse positive movement at main line (6) place along electromagnetism;
(3) electromagnetism guiding enters passage between cultivation bed
When picking robot (4) arrives relevant position after triggering the 1st branch line Non auto-reset travel switch (10), by interlock circuit, two engagement contacts of the 1st branch line Non auto-reset travel switch (10), simultaneously ensure that the 2nd branch line Non auto-reset travel switch (9) except the 1st branch line Non auto-reset travel switch (10), the 3rd branch line Non auto-reset travel switch (8) are until two contacts of the n-th branch line Non auto-reset travel switch (b) are in off-state; Signal generator (12) passes to single-frequency alternating current to electromagnetism guiding the 1st branch line (1), around electromagnetism guiding the 1st branch line (1), produce alternating electromagnetic field, the detecting coil in picking robot (4) and Jie Yun robot (5) detect this electromagnetic field and make picking robot (4) and Jie Yun robot (5) enter electromagnetism guide the 1st branch line (1) carried out operation by passage between the cultivation bed buried underground;
(4) picking fruit and classification are placed
Picking robot (4) is classified to fruit according to fruit size, weight and the defect information that the detection system on picking robot (4) obtains after plucking fruit, and puts into corresponding son fruit case (14);
(5) disengagement of Jie Yun robot and picking robot
When the picking fruit of certain position is complete, picking robot (4) and Jie Yun robot (5) advance along passage between this cultivation bed, have continued picking fruit and fruit casing working is put in classification, until son fruit case (14) the interior fruit of Jie Yun robot (5) is piled; After in son fruit case (14) of Jie Yun 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 with the conical surface of touching lever (28) by contacting to proceed to the cylinder (29) of touching lever, make two snap fits (20) spring ship and resell on another market (21) elastic force effect under open, Jie Yun robot (5) and picking robot (4) are thrown off, now, electromagnet (31) power-off makes its push rod eject;
(6) in the greenhouse of fruit, fruit is unloaded in movement and classification
Jie Yun robot (5) is along the walking in the other direction of electromagnetism guiding the 1st branch line (1), treatment region travel switch (11) is stored when Jie Yun robot (5) runs to relevant position triggering in the other direction, Jie Yun robot (5) stops walking, fruit case rotating shaft (15) is rotated, each son fruit chamber door (16) is opened in succession, is placed into by Pseudocarps and stores in treatment region;
(7) Jie Yun robot finds with the location of picking robot and engages
Then, Jie Yun robot (5) detects the alternating electromagnetic field of 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) by passage between the cultivation bed buried underground, until the lock ring (22) be fixed in Jie Yun robot front body (23) clashes into the touching lever (19) on picking robot (4), touching lever (19) and slide bar (27) opposite shell (18) are retracted, until pin-and-hole (30) arrives just to the push rod position of electromagnet (31), the push rod of electromagnet (31) inserts pin-and-hole (30) under the effect of electromagnet (31) built-in spring, two snap fits (20) contact with the cylinder of touching lever (29) by contacting to proceed to the conical surface (28) of touching lever simultaneously, make two snap fits (20) spring ship and resell on another market (21) elastic force effect under close, Jie Yun robot (5) and picking robot (4) complete clamping, continue picking fruit and classification and put into fruit casing working, so repeatedly, until the picking fruit of electromagnetism guiding the 1st branch line (1) both sides completes,
(8) Jie Yun robot and picking robot change cultivation bed operation
Electromagnetism guiding the 1st branch line (1) both sides picking fruit complete after, picking robot (4) and Jie Yun robot (5) guide the 1st branch line (1) along electromagnetism and retreat and to relevant position, the 1st branch line Non auto-reset travel switch (10) is resetted, two contacts of the 1st branch line Non auto-reset travel switch (10) disconnect, picking robot (4) and Jie Yun robot (5) detect that electromagnetism guides main line (6) alternating electromagnetic field around, and then continue positive movement along the arterial highway, greenhouse at electromagnetism guiding main line (6) place; When picking robot (4) arrives relevant position after triggering the 2nd branch line Non auto-reset travel switch (9), by interlock circuit, two engagement contacts of the 2nd branch line Non auto-reset travel switch (9), simultaneously ensure that the 1st branch line Non auto-reset travel switch (10) except the 2nd branch line Non auto-reset travel switch (9), the 3rd branch line Non auto-reset travel switch (8) are until two contacts of the n-th branch line Non auto-reset travel switch (b) are in off-state; Signal generator (12) passes to single-frequency alternating current to electromagnetism guiding the 2nd branch line (2), around electromagnetism guiding the 2nd branch line (2), produce alternating electromagnetic field, the detecting coil in picking robot (4) and Jie Yun robot (5) detect this electromagnetic field and make picking robot (4) and Jie Yun robot (5) enter electromagnetism guide the 2nd branch line (2) carried out operation by passage between the cultivation bed buried underground; And so forth, until picking fruits all in greenhouse and movement complete.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 CN103163858A (en) | 2013-06-19 |
| CN103163858B true CN103163858B (en) | 2015-04-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112703892A (en) * | 2020-12-23 | 2021-04-27 | 李海生 | Picking tool and picking method thereof |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN114847005B (en) * | 2022-04-27 | 2023-04-07 | 赵继安 | Fruit picking system and operation method thereof |
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| CN103163858A (en) | 2013-06-19 |
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