CN103294058B - Control system and control method are transplanted by a kind of robot for column cultivation - Google Patents
Control system and control method are transplanted by a kind of robot for column cultivation Download PDFInfo
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Abstract
The invention discloses a kind of robot for column cultivation and transplant control system and control method.Column transplant robot control system comprises control inerface, underlying programs and track storehouse.Comprise in track storehouse from arbitrary cave dish get seedling position to arbitrary cultivation column plant seedling position cultivation seedling travel path, plant seedling position from arbitrary cultivation column and get the backhaul track of seedling position and the corresponding sports rule of each joint of mechanical arm and end effector to arbitrary cave dish.During continuous transplanting operation, by initially getting from control inerface input the sequence number that Miao Weiyu initially plants seedling position, underlying programs is got seedling according to preset and plant seedling order, automatically in track storehouse, call the corresponding sports rule of planting seedling stroke and backhaul track and each joint of mechanical arm and end effector continuously, carry out the continuous transplanting of Plug seedling to cultivation column.The present invention enormously simplify the operand of control procedure, improves the flexibility of control system, real-time and reliability, achieves the full-automatic transplantation of Plug seedling to cultivation column of fast and reliable.
Description
Technical field
The present invention relates to field of agricultural robots, be specifically related to a kind of robot and transplant control technology.
Background technology
Greenhouse production column can up to more than 4 ~ 5 meters, the artificial transplanting difficulty of Plug seedling is very big, existing Plug seedling robotization transplant faced by equipment institute be Plug seedling or pot seedling to field, flowerpot transplanting, or large cave dish changes the transplanting task of vesicle dish, and Plug seedling is to the transplanting of column, on column, the height of each cultivation seedling position constantly changes, and equipment is transplanted in existing robotization cannot meet the requirement that great pillar transplants operation.Liu Jizhan proposes the supporting transplant robot (Liu Jizhan of column cultivation, Li Jiali, Li Pingping. Chinese invention patent: the transplant robot (publication number: CN102823365A) that column cultivation is supporting) and robotization leaf vegetables column production system (Liu Jizhan, Li Pingping, Wang Jizhang. Chinese invention patent: robotization leaf vegetables column production system (publication number: CN102696323A)), operation is transplanted in the Plug seedling robotization that can realize greenhouse many cultivations column.The control problem that operation transplanted automatically by the robot of greenhouse many cultivations column has great singularity:
(1) Plug seedling only needs the transplanting operation with mechanism that is continuously traveling on chassis to field transplanting, rice shoot change dish transplant time except cave dish replacing except, only need the transplanting operation of mechanical arm and end effector.And when transplanting operation towards column, except the action of mechanical arm and end effector, also need simultaneously column rotatable engagement by plant seedling position from the back side or lateral deflection in the face of mechanical arm side, need when a column has been transplanted chassis advance arrive next stud and continue transplanting operation;
(2) rice shoot change dish transplant plane operation path simple, and Plug seedling is when transplanting to column, because the change of seedling height and position planted by Pan Qumiao planimetric position, cave and column, make mechanical arm need realize the space path of many changes, path planning problem under the conditions such as collision free interference and time optimal is more complicated, the algorithm that control system carries out planning is in real time complicated, runs consuming time longer.Thus the multi-object cooperation control of full-automatic transplantation and multi-path planning perform the key becoming and determine its job success ratio and efficiency.
Existing transplant robot control system and control method, cannot automatically transplant the specific questions such as space path planning under the multiagent coordinative operation of operation and height change for the robot of greenhouse many cultivations column and provide Technical Reference and solution.Operation hardware configuration is transplanted by the robot that patent of invention " transplant robot that column cultivation is supporting " and " robotization leaf vegetables column production system " propose for column cultivation, but do not set up the control method that the robot for column cultivation transplants, control system and control method are transplanted by the robot that existing document also has no for column cultivation.
Summary of the invention
The object of the present invention is to provide a kind of robot for column cultivation to transplant control system and control method, the full automatic high efficiency that can realize towards column cultivation transplants operation, improves the job success ratio towards the full-automatic transplantation of column cultivation and efficiency.
In order to solve above technical matters, the technical solution used in the present invention is as follows:
A control system is transplanted by robot for column cultivation, it is characterized in that: column transplant robot control system comprises control inerface (7), underlying programs (8) and track storehouse (9); By at the upper input parameter of control inerface (7), send order and go to call the corresponding information in track storehouse to underlying programs (8); Described track storehouse (9) comprise from cave dish (3) arbitrary get cultivation seedling stroke (13) seedling position (10) to the upper arbitrary cultivation seedling position (11) of cultivation column (6) track and each joint of mechanical arm corresponding sports rule, to coil to cave that (3) are above arbitrary gets the track of backhaul (14) seedling position (10) and the corresponding sports rule in each joint of mechanical arm from cultivating arbitrary cultivation seedling position (11) column (6);
Described control inerface (7) comprises complete period track and gets seedling and rank sequence input port (16), complete period track gets line order input port, seedling position (17), sequence number input port, seedling position (18) is planted in single backhaul, single seedling stroke of planting gets line order input port, seedling position (19), cultivation column self-inspection status indicator lamp (20), direct acting joint self-inspection status indicator lamp (21), connecting key (22), large-arm joint self-inspection status indicator lamp (23), little shoulder joint self-inspection status indicator lamp (24), enable key (25), end effector self-inspection status indicator lamp (26), convertible many caves dish seedling-feeding device self-inspection status indicator lamp (27), ESC Escape (28), autonomous chassis self-inspection status indicator lamp (29), single cultivation seedling stroke is got seedling and is ranked sequence input port (30), single seedling stroke of planting plants sequence number input port, seedling position (31), single cultivation seedling running key (32), single homeward journey key (33), single backhaul is got seedling and is ranked sequence input port (34), complete period track runs key (35), complete period track plants sequence number input port, seedling position (36), line order input port, seedling position (37) is got in single backhaul, continuous transplanting stop key (38), continuous transplanting runs key (39), sequence number input port, seedling position (40) is initially planted in continuous transplanting, continuous transplanting is initially got seedling and is ranked sequence input port (41), and line order input port, seedling position (42) is initially got in continuous transplanting, seedling column sequence number input port (43) is initially planted in continuous transplanting.
The specification of described track storehouse (9) hole pressing dish (3) is the capable n row of m, and seedling position (10) is got in total m × n of each cave dish (3), and what each got seedling position (10) is numbered A
ij; Each cultivation column plants seedling position (11) for total p, each cultivation seedling position (11) be numbered B
k; Then comprise m × n × p bar in track storehouse (9) and plant the track of seedling stroke (13) and the corresponding sports rule in mechanical arm (5) each joint, comprise the track of m × n × p bar backhaul (14) and the corresponding sports rule in mechanical arm (5) each joint in track storehouse (9) simultaneously; What each planted seedling stroke (13) track and mechanical arm (5) each joint corresponding sports rule in track storehouse (9) is numbered A
ij-B
k, each backhaul (14) track and mechanical arm (5) each joint corresponding sports rule is numbered B in track storehouse (9)
k-A
ij; The span of described i, j, k is: 1≤i≤m, 1≤j≤n, 1≤k≤p.
Control method is transplanted by a kind of robot utilizing the described robot for column cultivation to transplant the column cultivation of control system, it is characterized in that the setting by described control inerface (7) and operation, the automatic column transplant robot realizing four class modes controls operation, and concrete course of action is:
Process one, by operating on control inerface, make control system and perform equipment energising, and the connecting key (22) successively clicked in control inerface (7) and enable key (25), finishing equipment powers on, the connection of column transplant robot control system and host computer and cultivate the enable of each motor in column (6) and supporting transplant robot;
Process two, System self-test, confirm that cultivation column (6) is normal with the state of each motor in supporting transplant robot, the initialization of completion system by the color observation of cultivation column self-inspection status indicator lamp (20), direct acting joint self-inspection status indicator lamp (21), large-arm joint self-inspection status indicator lamp (23), little shoulder joint self-inspection status indicator lamp (24), end effector self-inspection status indicator lamp (26), convertible many caves dish seedling-feeding device self-inspection status indicator lamp (27), autonomous chassis self-inspection status indicator lamp (29);
Process three, by different set and the operation of control inerface (7), performs the automatic job of four class different modes respectively.
The automatic job of described four class different modes is:
Single plant seedling stroke: plant that seedling stroke gets line order input port, seedling position (19), single seedling stroke of planting is got seedling and ranked sequence input port (30) and single seedling stroke of planting plants the line order i row sequence number j of sequence number input port, seedling position (31) input cave dish (3) upper transplanting position (10) and the sequence number k of cultivation column (6) cultivation seedling position (11) from single respectively; Click single cultivation seedling running key (32), the underlying programs (8) of column transplant robot control system is according to numbering A
ij-B
kcall in track storehouse (9) and perform the corresponding sports rule of corresponding cultivation seedling stroke (13) track and mechanical arm (5) each joint, end effector (4), completing from cave dish (3) is numbered A
ijget seedling position (10) to cultivation column (6) is numbered B
kthe single of cultivation seedling position (11) plant the operation of seedling stroke; The span of described i, j, k is: 1≤i≤m, 1≤j≤n, 1≤k≤p;
List backhaul operation: sequence number input port, seedling position (18) is planted in single backhaul, line order input port, seedling position (37) is got in single backhaul, single backhaul is got seedling and ranked the sequence number k of sequence input port (34) input cultivation column (6) upper cultivation seedling position (11) and line order i, the row sequence number j in cave dish (3) upper transplanting position (10); Click single homeward journey key (33), the underlying programs (8) of column transplant robot control system is according to numbering B
k-A
ijcall in track storehouse (9) and perform the corresponding sports rule of respective backhaul (14) track and mechanical arm (5) each joint, end effector (4), completing from cultivation column (6) is numbered B
kcultivation seedling position (11) to cave dish (3) on be numbered A
ijthe single backhaul operation of getting seedling position (10); The span of described i, j, k is: 1≤i≤m, 1≤j≤n, 1≤k≤p;
Complete period operation: get line order input port, seedling position (17) from complete period track respectively, complete period track get seedling rank sequence input port (16), the complete period track plant sequence number input port, seedling position (36) input cave dish (3) upper transplanting position (10) line order I, 1≤i≤m, row sequence number j and the upper sequence number k planting seedling position (11) of cultivation column (6); Click complete period track and run key (35), the underlying programs (8) of column transplant robot control system is according to numbering A
ij-B
kcall in track storehouse (9) and perform the corresponding sports rule in corresponding cultivation seedling stroke (13) track and mechanical arm (5) each joint, completing from cave dish (3) is numbered A
ijget seedling position (10) to cultivation column (6) is numbered B
kthe single of cultivation seedling position (11) plant the operation of seedling stroke; And then get seedling according to what preset and plant seedling order, automatically determine that next gets the numbering of seedling position (10), call in track storehouse (9) and perform the corresponding sports rule of respective backhaul (14) track and mechanical arm (5) each joint, end effector (4), completing next of coiling (3) from this cultivation seedling position (11) to cave and get the single backhaul operation of seedling position (10); The span of described i, j, k is: 1≤i≤m, 1≤j≤n, 1≤k≤p;
Continuous transplanting operation: respectively from continuous transplanting initially get line order input port, seedling position (42), continuously transplanting initially get seedling rank sequence input port (41), continuously transplant initial plant seedling column sequence number input port (43), continuously transplant initial plant sequence number input port, seedling position (40) input perform transplant operation continuously cave dish (3) initially get line order i and the row sequence number j of seedling position (15), the sequence number initial sequence number k that plant seedling position (12) upper with this cultivation column (6) of cultivation column (6); Click to transplant continuously and run key (39), the underlying programs (8) of column transplant robot control system is according to the numbering A initially getting seedling position (15) of input
ij-B
kcall in track storehouse (9) and perform the corresponding sports rule of corresponding cultivation seedling stroke (13) track and mechanical arm (5) each joint, end effector (4), completing from cave dish (3) is numbered A
ijget seedling position (10) to cultivation column (6) is numbered B
kthe complete period operation of cultivation seedling position (11); The span of described i, j, k is: 1≤i≤m, 1≤j≤n, 1≤k≤p.
Described continuous transplanting operation to the requirement that track storehouse (9) call is:
Get seedling according to what preset and plant seedling order, column transplant robot control system determines next numbering of getting seedling position (10) and planting seedling position (11) automatically, underlying programs (8) plants seedling stroke (13) track and mechanical arm (5) each joint according to numbering successively continuous calling in track storehouse (9), the corresponding sports rule of end effector (4), and backhaul (14) track and mechanical arm (5) each joint, the corresponding sports rule of end effector (4), complete the continuous transplanting operation of cave dish (3) interior rice shoot to this cultivation column (6),
After the transplanting operation of this cultivation column (6) completes, autonomous chassis (1) moves to the job position of next cultivation column (6), the underlying programs (8) of column transplant robot control system gets the complete period operation of seedling position (10) to first cultivation seedling position (11) of this cultivation column (6) from calling next in track storehouse (9), and get seedling according to what preset and plant seedling order, play order thus and complete the continuous transplanting operation of cave dish (3) interior rice shoot to this cultivation column (6);
When the shoot transplanting equipment in this cave dish (3) is complete, convertible many cave dish seedling-feeding device (2) upsets, transplanting job position is delivered in cave dish (3) of next completely being planted rice shoot, (80 coil first and get from calling this cave in track storehouse (9) seedling position (10) to plant complete period operation from seedling position (11) to the next one of cultivation column (6) for the underlying programs of column transplant robot control system, and get seedling according to what preset and plant seedling order, play order thus and complete the continuous transplanting operation of cave dish (3) interior rice shoot to this cultivation column (6);
Click in any moment of transplanting operation continuously and transplant stop key (38) continuously, transplant operation and stop; Click subsequently to transplant continuously and run key (39), continuity is performed the continuous transplanting operation clicked and transplant continuously before stop key (38) by column transplant robot control system; Click and transplant stop key (38) continuously and after clicking ESC Escape (28), column transplant robot control system is shut down and is exited, again click connect and enable after, need re-enter the line order i and the upper sequence number k initially planting seedling position (12) of row sequence number j, the sequence number of cultivating column (6) and this cultivation column (6) that initially get seedling position (15), column transplant robot control system transplants operation continuously according to restarting; The span of described i, j, k is: 1≤i≤m, 1≤j≤n, 1≤k≤p.
The invention has the beneficial effects as follows: calling by setting up track storehouse, the input of interface sequence number and underlying programs, the motion of column motion and transplant robot being matched, achieves the full-automatic transplantation of Plug seedling to cultivation column of fast and reliable; And enormously simplify the operand of control procedure, improve the flexibility of control system, real-time and reliability.
Accompanying drawing explanation
Fig. 1 is cultivation column and supporting transplant robot schematic diagram.
Fig. 2 is the track relation schematic diagram that cave dish gets that seedling interdigit planted by seedling position-column.
Fig. 3 is column transplant robot control system interface schematic diagram.
Fig. 4 is that control flow chart is transplanted by the robot of column cultivation.
In figure, 1. autonomous chassis, 2. convertible many caves dish seedling-feeding device, 3. cave dish, 4. end effector, 5. mechanical arm, 6. cultivate column, 7. control inerface, 8. underlying programs, 9. track storehouse, 10. get seedling position, 11. plant seedling position, 12. initially plant seedling position, 13. plant seedling stroke, 14. backhauls, 15. initially get seedling position, 16. complete period tracks are got seedling and are ranked sequence input port, 17. complete period tracks get line order input port, seedling position, sequence number input port, seedling position is planted in 18. single backhauls, 19. single seedling strokes of planting get line order input port, seedling position, 20. cultivation column self-inspection status indicator lamps, 21. direct acting joint self-inspection status indicator lamps, 22. connecting keys, 23. large-arm joint self-inspection status indicator lamps, 24. little shoulder joint self-inspection status indicator lamps, 25. enable key, 26. end effector self-inspection status indicator lamps, 27. convertible many cave dish seedling-feeding device self-inspection status indicator lamps, 28. ESC Escapes, 29. autonomous chassis self-inspection status indicator lamps, 30. single cultivation seedling strokes are got seedling and are ranked sequence input port, 31. single seedling strokes of planting plant sequence number input port, seedling position, 32. single cultivation seedling running keys, 33. single homeward journey keys, 34. single backhauls are got seedling and are ranked sequence input port, 35. complete period tracks run key, 36. complete period tracks plant sequence number input port, seedling position, line order input port, seedling position is got in 37. single backhauls, 38. transplant stop key continuously, 39. transplant operation key continuously, 40. transplant initial cultivation sequence number input port, seedling position continuously, 41. continuous transplantings are initially got seedling and are ranked sequence input port, line order input port, seedling position is initially got in 42. continuous transplantings, 43. transplant initial cultivation seedling column sequence number input port continuously.
Embodiment
As shown in Figure 1, the supporting transplant robot of cultivating column comprises autonomous chassis 1, convertible many caves and coils seedling-feeding device 2, end effector 4 and mechanical arm 5.Autonomous chassis 1, convertible many caves dish seedling-feeding device 2, end effector 4 are driven by motor respectively.Multiple joints of mechanical arm 5 are driven by motor respectively.Multiple cultivation column 6 can be driven by motor and rotate around respective axis.By supporting transplant robot, multiple cultivation column 6 is carried out to the automatic transplanting and management of Plug seedling.
Column transplant robot control system comprises control inerface 7, underlying programs 8 and track storehouse 9.
Composition graphs 2, track storehouse 9 comprise from cave dish 3 arbitrary get cultivation seedling stroke 13 on seedling position 10 to cultivation column 6 arbitrary cultivation seedling position 11 track and each joint of mechanical arm 5, end effector 4 corresponding sports rule, and coil from arbitrary cultivation seedling position 11 cultivation column 6 to cave and arbitraryly on 3 get the track of backhaul 14 seedling position 10 and the corresponding sports rule in each joint of mechanical arm 5.The specification of hole pressing dish 3 is that 8 row 16 arrange, and each cave dish 3 has 8 × 16 and gets seedling position 10, and what each got seedling position 10 is numbered A
ij; Each cultivation column on have 68 plant seedling positions 11, each plant seedling position 11 be numbered B
k; Then comprise the corresponding sports rule of 8 × 16 × 68 tracks of planting seedling strokes 13 and each joint of mechanical arm 5, end effector 4 in track storehouse 9, comprise the track of 8 × 16 × 68 backhauls 14 and the corresponding sports rule in each joint of mechanical arm 5 in track storehouse 9 simultaneously.What in track storehouse 9, each planted seedling stroke 13 track and mechanical arm 5 each joint corresponding sports rule is numbered A
ij-B
k, in track storehouse 9, each backhaul 14 track and mechanical arm 5 each joint corresponding sports rule is numbered B
k-A
ij, wherein 1≤i≤8,1≤j≤16,1≤k≤68.
As shown in Figure 3, control inerface 7 comprises complete period track and gets seedling and rank sequence input port 16, complete period track gets line order input port, seedling position 17, sequence number input port, seedling position 18 is planted in single backhaul, single seedling stroke of planting gets line order input port, seedling position 19, cultivation column self-inspection status indicator lamp 20, direct acting joint self-inspection status indicator lamp 21, connecting key 22, large-arm joint self-inspection status indicator lamp 23, little shoulder joint self-inspection status indicator lamp 24, enable key 25, end effector self-inspection status indicator lamp 26, convertible many cave dish seedling-feeding device self-inspection status indicator lamps 27, ESC Escape 28, autonomous chassis self-inspection status indicator lamp 29, single cultivation seedling stroke is got seedling and is ranked sequence input port 30, single seedling stroke of planting plants sequence number input port, seedling position 31, single cultivation seedling running key 32, single homeward journey key 33, single backhaul is got seedling and is ranked sequence input port 34, complete period track runs key 35, complete period track plants sequence number input port, seedling position 36, line order input port, seedling position 37 is got in single backhaul, continuous transplanting stop key 38, continuous transplanting runs key 39, sequence number input port, seedling position 40 is initially planted in continuous transplanting, continuous transplanting is initially got seedling and is ranked sequence input port 41, and line order input port, seedling position 42 is initially got in continuous transplanting, seedling column sequence number input port 43 is initially planted in continuous transplanting.
Connecting key 22, enable key 25 and ESC Escape 28 perform respectively the connection activating column transplant robot control system and host computer, enable, the column transplant robot control system of cultivating each motor in column 6 and supporting transplant robot exit action.Cultivation column self-inspection status indicator lamp 20, direct acting joint self-inspection status indicator lamp 21, large-arm joint self-inspection status indicator lamp 23, little shoulder joint self-inspection status indicator lamp 24, end effector self-inspection status indicator lamp 26, convertible many cave dish seedling-feeding device self-inspection status indicator lamps 27, autonomous chassis self-inspection status indicator lamp 29 is respectively with red (green) color instruction cultivation column 6, (direct acting joint, each joint of mechanical arm 5, large-arm joint, little shoulder joint), end effector 4, convertible many caves dish seedling-feeding device 2, normal (improper) state of motor on autonomous chassis 1.
Plant that seedling stroke gets line order input port, seedling position 19, single seedling stroke of planting is got seedling and ranked sequence input port 30 and single seedling stroke of planting is planted sequence number input port, seedling position 31 and inputted cave when fill order plants 13 operation of seedling stroke and coil the sequence number k that seedling position 11 planted by line order i, the row sequence number j of 3 upper transplanting positions 10 and cultivation column 6 from single respectively.Plant sequence number input port, seedling position 18 from single backhaul respectively, line order input port, seedling position 37 is got in single backhaul, single backhaul gets seedling and rank sequence input port 34 and input fill order's backhaul 14 operation and cultivate column 6 and plant line order i, the row sequence number j that 3 upper transplanting positions 10 are coiled in the sequence number k of seedling position 11 and cave.Get line order input port, seedling position 17 from complete period track respectively, complete period track gets that seedling ranks sequence input port 16, complete period track plants the input of sequence number input port 36, seedling position and perform cave complete period track operation and coil the sequence number k that seedling position 11 planted by line order i, the row sequence number j of 3 upper transplanting positions 10 and cultivation column 6.Respectively from continuous transplanting initially get line order input port, seedling position 42, continuously transplanting initially get seedling rank sequence input port 41, continuously transplant initial plant seedling column sequence number input port 43, continuously transplant initial plant the input of sequence number input port 40, seedling position perform transplant operation continuously cave dish 3 initially get sequence number and the initial sequence number k planting seedling position 12 on this cultivation column 6 of the line order i of seedling position 15 and row sequence number j, cultivation column 6.Single plant seedling running key 32, single homeward journey key 33, complete period track run key 35, transplant continuously and run key 39 and complete single startup of planting the operation of seedling stroke 13, single backhaul 14 operation, complete period track operation and transplanting operation continuously respectively and perform an action; Continuous transplanting stop key 38 completes the stopping action of transplanting operation continuously.Wherein 1≤i≤8,1≤j≤16,1≤k≤68.
Below control method is described in detail:
By setting and the operation of control inerface 7, column transplant robot control system can realize the automatic job of 4 class modes, and motion flow is:
(1) start powers on and the connecting key 22 successively clicked in control inerface 7 and enable key 25, and finishing equipment powers on, the connection of column transplant robot control system and host computer and cultivate the enable of each motor in column 6 and supporting transplant robot;
(2) System self-test, confirm that cultivation column 6 is normal with the state of each motor in supporting transplant robot, the initialization of completion system by the color observation of cultivation column self-inspection status indicator lamp 20, direct acting joint self-inspection status indicator lamp 21, large-arm joint self-inspection status indicator lamp 23, little shoulder joint self-inspection status indicator lamp 24, end effector self-inspection status indicator lamp 26, convertible many cave dish seedling-feeding device self-inspection status indicator lamps 27, autonomous chassis self-inspection status indicator lamp 29;
(3) by different set and the operation of control inerface 7, the automatic job of 4 class different modes is performed respectively:
1) single cultivation seedling stroke operation
Plant that seedling stroke gets line order input port, seedling position 19, single seedling stroke of planting is got seedling and ranked sequence input port 30 and single seedling stroke of planting is planted sequence number input port, seedling position 31 and inputted cave and coil the sequence number k that seedling position 11 planted by line order i, the row sequence number j of 3 upper transplanting positions 10 and cultivation column 6 from single respectively; Click single cultivation seedling running key 32, the underlying programs 8 of column transplant robot control system is according to numbering A
ij-B
kcall in track storehouse 9 and perform the corresponding sports rule of corresponding cultivation seedling stroke 13 track and each joint of mechanical arm 5, end effector 4, completing from cave dish 3 is numbered A
ijget seedling position 10 to cultivation column 6 on be numbered B
kthe single of cultivation seedling position 11 plant the operation of seedling stroke.
2) single backhaul operation
Sequence number input port, seedling position 18 is planted in single backhaul, line order input port, seedling position 37 is got in single backhaul, single backhaul is got seedling and ranked sequence input port 34 and input line order i, the row sequence number j that 3 upper transplanting positions 10 are coiled in the sequence number k that cultivation column 6 planted seedling position 11 and cave; Click single homeward journey key 33, the underlying programs 8 of column transplant robot control system is according to numbering B
k-A
ijcall in track storehouse 9 and perform the corresponding sports rule of respective backhaul 14 track and each joint of mechanical arm 5, end effector 4, completing from cultivation column 6 is numbered B
kcultivation seedling position 11 to cave dish 3 on be numbered A
ijthe single backhaul operation of getting seedling position 10.Wherein 1≤i≤8,1≤j≤16,1≤k≤68.
3) complete period operation
Get line order input port, seedling position 17 from complete period track respectively, complete period track gets that seedling ranks sequence input port 16, complete period track plants sequence number input port, seedling position 36 and input cave and coil line order i, the row sequence number j of 3 upper transplanting positions 10 and the sequence number k of seedling position 11 planted by cultivation column 6; Click complete period track and run key 35, the underlying programs 8 of column transplant robot control system is according to numbering A
ij-B
kcall in track storehouse 9 and perform the corresponding sports rule in corresponding cultivation seedling stroke 13 track and each joint of mechanical arm 5, completing from cave dish 3 is numbered A
ijget seedling position 10 to cultivation column 6 on be numbered B
kthe single of cultivation seedling position 11 plant the operation of seedling stroke; And then get seedling according to what preset and plant seedling order, automatically determine that next gets the numbering of seedling position 10, call in track storehouse 9 and perform the corresponding sports rule of respective backhaul 14 track and each joint of mechanical arm 5, end effector 4, completing next of coiling 3 from this cultivation seedling position 11 to cave and get the single backhaul operation of seedling position 10.Wherein 1≤i≤8,1≤j≤16,1≤k≤68.
4) operation is transplanted continuously
Respectively from continuous transplanting initially get line order input port, seedling position 42, continuously transplanting initially get seedling rank sequence input port 41, continuously transplant initial plant seedling column sequence number input port 43, continuously transplant initial plant the input of sequence number input port 40, seedling position perform transplant operation continuously cave dish 3 initially get sequence number and the initial sequence number k planting seedling position 12 on this cultivation column 6 of the line order i of seedling position 15 and row sequence number j, cultivation column 6; Click to transplant continuously and run key 39, the underlying programs 8 of column transplant robot control system is according to the numbering A initially getting seedling position 15 of input
ij-B
kcall in track storehouse 9 and perform the corresponding sports rule of corresponding cultivation seedling stroke 13 track and each joint of mechanical arm 5, end effector 4, completing from cave dish 3 is numbered A
ijget seedling position 10 to cultivation column 6 on be numbered B
kthe complete period operation of cultivation seedling position 11.Wherein 1≤i≤8,1≤j≤16,1≤k≤68.
Get seedling according to what preset and plant seedling order, column transplant robot control system determines next numbering of getting seedling position 10 and planting seedling position 11 automatically, underlying programs 8 calls the corresponding sports rule of planting seedling stroke 13 track and each joint of mechanical arm 5, end effector 4 according to numbering is continuous successively in track storehouse 9, and backhaul 14 track and each joint of mechanical arm 5, end effector 4 corresponding sports rule, to complete in cave dish 3 rice shoot to the continuous transplanting operation of this cultivation column 6.
After the transplanting operation of this cultivation column 6 completes, autonomous chassis 1 moves to the job position of next cultivation column 6, the underlying programs 8 of column transplant robot control system gets the complete period operation of seedling position 10 to first cultivation seedling position 11 of this cultivation column 6 from calling next in track storehouse 9, and get seedling according to what preset and plant seedling order, play order thus and to complete in cave dish 3 rice shoot to the continuous transplanting operation of this cultivation column 6.
When the shoot transplanting equipment in this cave dish 3 is complete, convertible many caves dish seedling-feeding device 2 overturns, transplanting job position delivered to by the cave dish 3 of next completely being planted rice shoot, the underlying programs 8 of column transplant robot control system coils first and gets from calling this cave in track storehouse 9 seedling position 10 to plant complete period operation from seedling position 11 to the next one of cultivation column 6, and get seedling according to what preset and plant seedling order, play order thus and to complete in cave dish 3 rice shoot to the continuous transplanting operation of this cultivation column 6.
Click in any moment of transplanting operation continuously and transplant stop key 38 continuously, transplant operation and stop; Click subsequently to transplant continuously and run key 39, continuity is performed the continuous transplanting operation clicked and transplant continuously before stop key 38 by column transplant robot control system.Click and continuously transplant stop key 38 and after clicking ESC Escape 28; column transplant robot control system is shut down and is exited; again click connect and enable after; need re-enter sequence number and the initial sequence number k planting seedling position 12 on this cultivation column 6 of the line order i that initially gets seedling position 15 and row sequence number j, cultivation column 6, column transplant robot control system transplants operation continuously according to restarting.Wherein 1≤i≤8,1≤j≤16,1≤k≤68.
Claims (5)
1. a control system is transplanted by the robot for column cultivation, it is characterized in that: column transplant robot control system comprises control inerface (7), underlying programs (8) and track storehouse (9); By at the upper input parameter of control inerface (7), send order and go to call the corresponding information in track storehouse to underlying programs (8); Described track storehouse (9) comprise from cave dish (3) arbitrary get cultivation seedling stroke (13) seedling position (10) to the upper arbitrary cultivation seedling position (11) of cultivation column (6) track and each joint of mechanical arm corresponding sports rule, to coil to cave that (3) are above arbitrary gets the track of backhaul (14) seedling position (10) and the corresponding sports rule in each joint of mechanical arm from cultivating arbitrary cultivation seedling position (11) column (6);
Described control inerface (7) comprises complete period track and gets seedling and rank sequence input port (16), complete period track gets line order input port, seedling position (17), sequence number input port, seedling position (18) is planted in single backhaul, single seedling stroke of planting gets line order input port, seedling position (19), cultivation column self-inspection status indicator lamp (20), direct acting joint self-inspection status indicator lamp (21), connecting key (22), large-arm joint self-inspection status indicator lamp (23), little shoulder joint self-inspection status indicator lamp (24), enable key (25), end effector self-inspection status indicator lamp (26), convertible many caves dish seedling-feeding device self-inspection status indicator lamp (27), ESC Escape (28), autonomous chassis self-inspection status indicator lamp (29), single cultivation seedling stroke is got seedling and is ranked sequence input port (30), single seedling stroke of planting plants sequence number input port, seedling position (31), single cultivation seedling running key (32), single homeward journey key (33), single backhaul is got seedling and is ranked sequence input port (34), complete period track runs key (35), complete period track plants sequence number input port, seedling position (36), line order input port, seedling position (37) is got in single backhaul, continuous transplanting stop key (38), continuous transplanting runs key (39), sequence number input port, seedling position (40) is initially planted in continuous transplanting, continuous transplanting is initially got seedling and is ranked sequence input port (41), and line order input port, seedling position (42) is initially got in continuous transplanting, seedling column sequence number input port (43) is initially planted in continuous transplanting.
2. transplant control system for the robot of column cultivation as claimed in claim 1 for one kind, it is characterized in that: described track storehouse (9), the specification of hole pressing dish (3) is the capable n row of m, each cave dish (3) total m × n gets seedling position (10), and what each got seedling position (10) is numbered A
ij; Each cultivation column plants seedling position (11) for total p, each cultivation seedling position (11) be numbered B
k; Then comprise m × n × p bar in track storehouse (9) and plant the track of seedling stroke (13) and the corresponding sports rule in mechanical arm (5) each joint, comprise the track of m × n × p bar backhaul (14) and the corresponding sports rule in mechanical arm (5) each joint in track storehouse (9) simultaneously; What each planted seedling stroke (13) track and mechanical arm (5) each joint corresponding sports rule in track storehouse (9) is numbered A
ij-B
k, each backhaul (14) track and mechanical arm (5) each joint corresponding sports rule is numbered B in track storehouse (9)
k-A
ij; The span of described i, j, k is: 1≤i≤m, 1≤j≤n, 1≤k≤p.
3. transplant control method for the robot of the column cultivation of the robot transplanting control system of column cultivation as claimed in claim 2 for one kind, it is characterized in that the setting by described control inerface (7) and operation, the automatic column transplant robot realizing four class modes controls operation, and concrete course of action is:
Process one, by operating on control inerface, make control system and perform equipment energising, and the connecting key (22) successively clicked in control inerface (7) and enable key (25), finishing equipment powers on, the connection of column transplant robot control system and host computer and cultivate the enable of each motor in column (6) and supporting transplant robot;
Process two, System self-test, confirm that cultivation column (6) is normal with the state of each motor in supporting transplant robot, the initialization of completion system by the color observation of cultivation column self-inspection status indicator lamp (20), direct acting joint self-inspection status indicator lamp (21), large-arm joint self-inspection status indicator lamp (23), little shoulder joint self-inspection status indicator lamp (24), end effector self-inspection status indicator lamp (26), convertible many caves dish seedling-feeding device self-inspection status indicator lamp (27), autonomous chassis self-inspection status indicator lamp (29);
Process three, by different set and the operation of control inerface (7), performs the automatic job of four class different modes respectively.
4. a control method is transplanted by the robot of column cultivation as claimed in claim 3, it is characterized in that the automatic job of described four class different modes is:
Single plant seedling stroke: plant that seedling stroke gets line order input port, seedling position (19), single seedling stroke of planting is got seedling and ranked sequence input port (30) and single seedling stroke of planting plants line order i, the row sequence number j of sequence number input port, seedling position (31) input cave dish (3) upper transplanting position (10) and the sequence number k of cultivation column (6) cultivation seedling position (11) from single respectively; Click single cultivation seedling running key (32), the underlying programs (8) of column transplant robot control system is according to numbering A
ij-B
kcall in track storehouse (9) and perform the corresponding sports rule of corresponding cultivation seedling stroke (13) track and mechanical arm (5) each joint, end effector (4), completing from cave dish (3) is numbered A
ijget seedling position (10) to cultivation column (6) is numbered B
kthe single of cultivation seedling position (11) plant the operation of seedling stroke; The span of described i, j, k is: 1≤i≤m, 1≤j≤n, 1≤k≤p;
List backhaul operation: sequence number input port, seedling position (18) is planted in single backhaul, line order input port, seedling position (37) is got in single backhaul, single backhaul is got seedling and ranked the sequence number k of sequence input port (34) input cultivation column (6) upper cultivation seedling position (11) and line order i, the row sequence number j in cave dish (3) upper transplanting position (10); Click single homeward journey key (33), the underlying programs (8) of column transplant robot control system is according to numbering B
k-A
ijcall in track storehouse (9) and perform the corresponding sports rule of respective backhaul (14) track and mechanical arm (5) each joint, end effector (4), completing from cultivation column (6) is numbered B
kcultivation seedling position (11) to cave dish (3) on be numbered A
ijthe single backhaul operation of getting seedling position (10); The span of described i, j, k is: 1≤i≤m, 1≤j≤n, 1≤k≤p;
Complete period operation: get line order input port, seedling position (17) from complete period track respectively, complete period track gets the line order i that seedling ranks sequence input port (16), complete period track plants sequence number input port, seedling position (36) input cave dish (3) upper transplanting position (10), row sequence number j and the upper sequence number k planting seedling position (11) of cultivation column (6); Click complete period track and run key (35), the underlying programs (8) of column transplant robot control system is according to numbering A
ij-B
kcall in track storehouse (9) and perform the corresponding sports rule in corresponding cultivation seedling stroke (13) track and mechanical arm (5) each joint, completing from cave dish (3) is numbered A
ijget seedling position (10) to cultivation column (6) is numbered B
kthe single of cultivation seedling position (11) plant the operation of seedling stroke; And then get seedling according to what preset and plant seedling order, automatically determine that next gets the numbering of seedling position (10), call in track storehouse (9) and perform the corresponding sports rule of respective backhaul (14) track and mechanical arm (5) each joint, end effector (4), completing next of coiling (3) from this cultivation seedling position (11) to cave and get the single backhaul operation of seedling position (10); The span of described i, j, k is: 1≤i≤m, 1≤j≤n, 1≤k≤p;
Continuous transplanting operation: respectively from continuous transplanting initially get line order input port, seedling position (42), continuously transplanting initially get seedling rank sequence input port (41), continuously transplant initial plant seedling column sequence number input port (43), continuously transplant initial plant sequence number input port, seedling position (40) input perform transplant operation continuously cave dish (3) initially get line order i and the row sequence number j of seedling position (15), the sequence number initial sequence number k that plant seedling position (12) upper with this cultivation column (6) of cultivation column (6); Click to transplant continuously and run key (39), the underlying programs (8) of column transplant robot control system is according to the numbering A of input
ij-B
kcall in track storehouse (9) and perform the corresponding sports rule of corresponding cultivation seedling stroke (13) track and mechanical arm (5) each joint, end effector (4), completing from cave dish (3) is numbered A
ijget seedling position (10) to cultivation column (6) is numbered B
kthe complete period operation of cultivation seedling position (11); The span of described i, j, k is: 1≤i≤m, 1≤j≤n, 1≤k≤p.
5. a control method is transplanted by the robot of column cultivation as claimed in claim 4, and it is characterized in that, described continuous transplanting operation to the requirement that track storehouse (9) call is:
Get seedling according to what preset and plant seedling order, column transplant robot control system determines next numbering of getting seedling position (10) and planting seedling position (11) automatically, underlying programs (8) plants seedling stroke (13) track and mechanical arm (5) each joint according to numbering successively continuous calling in track storehouse (9), the corresponding sports rule of end effector (4), and backhaul (14) track and mechanical arm (5) each joint, the corresponding sports rule of end effector (4), complete the continuous transplanting operation of cave dish (3) interior rice shoot to this cultivation column (6),
After the transplanting operation of this cultivation column (6) completes, autonomous chassis (1) moves to the job position of next cultivation column (6), the underlying programs (8) of column transplant robot control system gets the complete period operation of seedling position (10) to first cultivation seedling position (11) of this cultivation column (6) from calling next in track storehouse (9), and get seedling according to what preset and plant seedling order, play order thus and complete the continuous transplanting operation of cave dish (3) interior rice shoot to this cultivation column (6);
When the shoot transplanting equipment in this cave dish (3) is complete, convertible many cave dish seedling-feeding device (2) upsets, transplanting job position is delivered in cave dish (3) of next completely being planted rice shoot, (80 coil first and get from calling this cave in track storehouse (9) seedling position (10) to plant complete period operation from seedling position (11) to the next one of cultivation column (6) for the underlying programs of column transplant robot control system, and get seedling according to what preset and plant seedling order, play order thus and complete the continuous transplanting operation of cave dish (3) interior rice shoot to this cultivation column (6);
Click in any moment of transplanting operation continuously and transplant stop key (38) continuously, transplant operation and stop; Click subsequently to transplant continuously and run key (39), continuity is performed the continuous transplanting operation clicked and transplant continuously before stop key (38) by column transplant robot control system; Click and transplant stop key (38) continuously and after clicking ESC Escape (28), column transplant robot control system is shut down and is exited, again click connect and enable after, need re-enter the line order i and the upper sequence number k initially planting seedling position (12) of row sequence number j, the sequence number of cultivating column (6) and this cultivation column (6) that initially get seedling position (15), column transplant robot control system restarts to transplant operation continuously; The span of described i, j, k is: 1≤i≤m, 1≤j≤n, 1≤k≤p.
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| CN201310188561.4A CN103294058B (en) | 2013-05-21 | 2013-05-21 | Control system and control method are transplanted by a kind of robot for column cultivation |
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| CN103688630B (en) * | 2013-12-18 | 2016-01-20 | 江苏大学 | A kind of automatic transplanted seedling sequence of collisionless of column cultivation and determining method of path |
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2013
- 2013-05-21 CN CN201310188561.4A patent/CN103294058B/en not_active Expired - Fee Related
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| US4788920A (en) * | 1987-02-26 | 1988-12-06 | University Of Florida | Spatial transplanter mechanism |
| CN102696323A (en) * | 2012-06-05 | 2012-10-03 | 江苏大学 | Automatic leaf vegetable spiral stand column production system |
| CN102823365A (en) * | 2012-06-05 | 2012-12-19 | 江苏大学 | Column cultivation matching transplanting robot |
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