CN105929752A - Robot-based lychee picking control system - Google Patents
Robot-based lychee picking control system Download PDFInfo
- Publication number
- CN105929752A CN105929752A CN201610462631.4A CN201610462631A CN105929752A CN 105929752 A CN105929752 A CN 105929752A CN 201610462631 A CN201610462631 A CN 201610462631A CN 105929752 A CN105929752 A CN 105929752A
- Authority
- CN
- China
- Prior art keywords
- module
- lichee
- control
- side controller
- picking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25314—Modular structure, modules
Abstract
The invention provides a robot-based lychee picking control system which belongs to the field of switch power supplies and comprises a picking end and a control end. The picking end and the control end are wirelessly connected. The picking end comprises a video acquiring module, a picking end controller module, a lychee picking module and a picking end wireless module. The output end of the video acquiring module is connected with the picking end controller module. The input end of the lychee picking module is connected with the output end of the picking end controller module. The picking end wireless module is connected with the picking end controller module. The control end comprises a control end wireless module, a control end controller module, a display module and a joystick module. The output end of the joystick module is connected with the control end controller module. The control end wireless module is connected with the control end controller module. The input end of the display module is connected with the control end controller module. The problem that an existing robot-based lychee picking control system cannot carry out visualization picking is solved.
Description
Technical field
The present invention relates to robot control field, specifically relate to based on picking robot lichee
Control system.
Background technology
Along with the high speed development of agricultural modernization scientific and technological level, the demand of picking robot is more come by market
The biggest, various agricultural operation machine people the most increasingly receive publicity.A lot of agricultural operation machine people are the most
Slowly popularizing through beginning, robot replaces manual work to bring the biggest convenience.Also give simultaneously
People bring the biggest economic benefit, can promote the quick growth of agricultural economy very well, give country
Agricultural development brings new power.
There is now the robot of a lot of agricultural workings, but the most fewer in terms of fruit picking,
The most particularly robot at aspects such as the trees such as lichee are taller and bigger does not has.In order to be able to into
One step promotes the development of lichee picking robot, and existing a lot of picking robot is the most relatively backward,
It is all based on the Non-follow control of artificial near-end, but when litchi is the tallest and the biggest, people are to see tree
On a lot of orientation, be difficult to when plucking control, pluck effect bad, accordingly, it would be desirable to develop
One can remotely control, and can visualize harvesting part so that the efficiency of harvesting and effect
More preferably, greatly situation people pluck the efficiency of lichee, also make the lichee of harvesting to stand intact,
Make fruit quality more preferable.
Summary of the invention
What the present invention needed to solve is existing can not to visualize based on picking robot lichee control system
The problem plucked, it is provided that based on picking robot lichee control system.
The present invention solves the problems referred to above by the following technical programs:
Based on picking robot lichee control system, including plucking end and controlling end, pluck end and control
End wireless connection；
Pluck end to include video acquisition module, pluck side controller module, lichee harvesting module and harvesting
End wireless module；The output of video acquisition module is connected with plucking side controller module；Lichee is plucked
The input of module is connected with plucking side controller module output；Pluck end wireless module and pluck end
Controller module connects；
Control end to include controlling end wireless module, controlling side controller module, display module and rocking bar mould
Block；The output of rocking bar module is connected with controlling side controller module；Control end wireless module and control
Side controller module connects；The input of display module is connected with controlling side controller module.
In order to be able to plucking the input of the end energy, in such scheme, preferably pluck end and wrap the most further
Include power module, the output of power module and video acquisition module, harvesting side controller module, litchi
Branch is plucked module and plucks the connection power supply of end wireless module；Make what harvesting end can be the most independent to enter
Row plucks work.
In order to enable users to understand in real time the electricity of harvesting end power module, in such scheme, preferably
It is to pluck end to still further comprise electric power detection module, the test side of electric power detection module and power module
Connect；The output of electric power detection module is connected with plucking side controller module, in real time detection power supply mould
The electricity of block, enables users to more preferably understand the electricity plucking end, and carries out in time carrying out to power module
Charging.
In order to enable more preferably to carry out plucking end and controlling to carry out quick radio communication, such scheme between end
In, preferably pluck end wireless module and control end wireless module all uses WIFI module or bluetooth mould
Block.
In such scheme, preferably pluck end wireless module and control end wireless module employing model is
The chip of CC3200 is as wireless process chip.
In order to make processing speed more accelerate, also can well carry out video packing, in such scheme, excellent
Choosing is to pluck side controller module all to use single-chip microcomputer control serial for STM with controlling side controller module
Coremaking sheet is as processing chip.
Advantages of the present invention with effect is:
1, the present invention is by plucking end installation video acquisition module, can be real-time when plucking work
Gather the video data on litchi, and by plucking end wireless module, video data is passed to control
End, makes user can more preferably carry out lichee harvesting work, and makes the efficiency of collection more, the most satisfied
The needs of people；
2, the present invention is by being provided with rocking bar module at control end, and user is according to regarding on display module
Frequency evidence, the lichee harvesting module being controlled to pluck end by rocking bar module further carries out plucking lichee,
Making the in hgher efficiency of collection lichee, the lichee collected is more preferable, does not haves the lichee of damage, to people
Bring bigger economic benefit.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the present invention.
Detailed description of the invention
Below in conjunction with embodiment, the invention will be further described.
Based on picking robot lichee control system, including plucking end and controlling end, pluck end and control
End wireless connection；
Pluck end to include video acquisition module, pluck side controller module, lichee harvesting module and harvesting
End wireless module；The output of video acquisition module is connected with plucking side controller module；Lichee is plucked
The input of module is connected with plucking side controller module output；Pluck end wireless module and pluck end
Controller module connects；
Control end to include controlling end wireless module, controlling side controller module, display module and rocking bar mould
Block；The output of rocking bar module is connected with controlling side controller module；Control end wireless module and control
Side controller module connects；The input of display module is connected with controlling side controller module.
In order to be able to plucking the input of the end energy, the harvesting end of the present invention still further comprises power module,
The output of power module and video acquisition module, pluck side controller module, module plucked by lichee and
Pluck end wireless module and connect power supply；The carrying out that harvesting end can be the most independent is made to pluck work；
Power module is storage battery, can be charged in real time so that can more preferably pluck end after charging and carry
Input for electric energy.
The harvesting end of the present invention still further comprises electric power detection module, the test side of electric power detection module
It is connected with power module；The output of electric power detection module is connected, in real time with plucking side controller module
The electricity of detection power module, enables users to more preferably understand the electricity plucking end, and carries out to electricity in time
Source module is charged；Electric power detection module is mainly made up of testing circuit, the voltage to power module
Carry out A/D sampling with electric current, carry out calculating very well the voltage of power module according to sampled data
And electric current, it is estimated that the electricity of power module.
In order to enable more preferably to carry out plucking end and controlling to carry out between end quick radio communication, pluck end wireless
Module and control end wireless module all use WIFI module or bluetooth module；Pluck end wireless module and control
End wireless module processed uses model to be that the chip of CC3200 is as wireless process chip；CC3200 is present
More advanced wireless process chip, and be the first built-in wireless process chip of China, there is process
The advantages such as speed is fast.
Lichee is plucked module and is mainly included drive circuit, motor, harvesting folder and pallet；Drive circuit
Input is connected with plucking side controller module；Drive circuit output and motor input even
Connect；The rotating shaft of motor is connected with plucking folder；Pallet is arranged on bottom the volume plucking folder, adopts when plucking folder
Being placed directly on pallet after picking lichee, the lichee effect so making harvesting is better.
The present invention by pluck end install video acquisition module, can pluck work time Real-time Collection
Video data on litchi, and by plucking end wireless module, video data is passed to control end, make
User can more preferably carry out lichee harvesting work, and makes the efficiency of collection more, more preferably meets people's
Need；Further by being provided with rocking bar module at control end, user is according to regarding on display module
Frequency evidence, the lichee harvesting module being controlled to pluck end by rocking bar module further carries out plucking lichee,
Making the in hgher efficiency of collection lichee, the lichee collected is more preferable, does not haves the lichee of damage, to people
Bring bigger economic benefit；Solve existing can not be visual based on picking robot lichee control system
Change the problem plucked.
Below preferred embodiment to the invention is illustrated, but the present invention does not limit
In embodiment, those of ordinary skill in the art also may be used on the premise of the invention spirit
To make modification or the replacement of all equivalents, modification or the replacement of these equivalents are all contained in the application
In the range of.
Claims (6)
1. based on picking robot lichee control system, it is characterised in that: include plucking end and control
End, plucks end and controls end wireless connection；
Pluck end to include video acquisition module, pluck side controller module, lichee harvesting module and harvesting
End wireless module；The output of video acquisition module is connected with plucking side controller module；Lichee is plucked
The input of module is connected with plucking side controller module output；Pluck end wireless module and pluck end
Controller module connects；
Control end to include controlling end wireless module, controlling side controller module, display module and rocking bar mould
Block；The output of rocking bar module is connected with controlling side controller module；Control end wireless module and control
Side controller module connects；The input of display module is connected with controlling side controller module.
It is the most according to claim 1 based on picking robot lichee control system, it is characterised in that:
Described harvesting end also includes power module, the output of power module and video acquisition module, harvesting end
Controller module, lichee are plucked module and pluck the connection power supply of end wireless module.
It is the most according to claim 1 based on picking robot lichee control system, it is characterised in that:
Described harvesting end also includes electric power detection module, and the test side of electric power detection module is with power module even
Connect；The output of electric power detection module is connected with plucking side controller module.
It is the most according to claim 1 based on picking robot lichee control system, it is characterised in that:
Described harvesting end wireless module and control end wireless module all use WIFI module or bluetooth module.
It is the most according to claim 4 based on picking robot lichee control system, it is characterised in that:
Described harvesting end wireless module and control end wireless module use model to be that the chip of CC3200 is as nothing
Line processes chip.
It is the most according to claim 1 based on picking robot lichee control system, it is characterised in that:
Described harvesting side controller module and control side controller module all use the Single-chip Controlling of STM series
Chip is as processing chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610462631.4A CN105929752A (en) | 2016-06-22 | 2016-06-22 | Robot-based lychee picking control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610462631.4A CN105929752A (en) | 2016-06-22 | 2016-06-22 | Robot-based lychee picking control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105929752A true CN105929752A (en) | 2016-09-07 |
Family
ID=56831668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610462631.4A Pending CN105929752A (en) | 2016-06-22 | 2016-06-22 | Robot-based lychee picking control system |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109451989A (en) * | 2018-11-28 | 2019-03-12 | 无锡职业技术学院 | A kind of modularization picking mechanical arm and its telescoping mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102914967A (en) * | 2012-09-21 | 2013-02-06 | 浙江工业大学 | Autonomous navigation and man-machine coordination picking operating system of picking robot |
| CN203171630U (en) * | 2013-04-04 | 2013-09-04 | 四川农业大学 | Control device for apple picking manipulator |
| CN104704990A (en) * | 2015-04-08 | 2015-06-17 | 吴春光 | Electronic automatic picking method of pomegranate trees |
| CN105027830A (en) * | 2015-08-31 | 2015-11-11 | 梧州市旺捷机械制造有限公司 | Control system of tea leaf picking machine |
| CN205787766U (en) * | 2016-06-22 | 2016-12-07 | 吴童 | Based on picking robot Fructus Litchi control system |
-
2016
- 2016-06-22 CN CN201610462631.4A patent/CN105929752A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102914967A (en) * | 2012-09-21 | 2013-02-06 | 浙江工业大学 | Autonomous navigation and man-machine coordination picking operating system of picking robot |
| CN203171630U (en) * | 2013-04-04 | 2013-09-04 | 四川农业大学 | Control device for apple picking manipulator |
| CN104704990A (en) * | 2015-04-08 | 2015-06-17 | 吴春光 | Electronic automatic picking method of pomegranate trees |
| CN105027830A (en) * | 2015-08-31 | 2015-11-11 | 梧州市旺捷机械制造有限公司 | Control system of tea leaf picking machine |
| CN205787766U (en) * | 2016-06-22 | 2016-12-07 | 吴童 | Based on picking robot Fructus Litchi control system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109451989A (en) * | 2018-11-28 | 2019-03-12 | 无锡职业技术学院 | A kind of modularization picking mechanical arm and its telescoping mechanism |
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Application publication date: 20160907 |