CN109605375A - A kind of control method of intelligence Tomato-harvesting robot - Google Patents
A kind of control method of intelligence Tomato-harvesting robot Download PDFInfo
- Publication number
- CN109605375A CN109605375A CN201910015229.5A CN201910015229A CN109605375A CN 109605375 A CN109605375 A CN 109605375A CN 201910015229 A CN201910015229 A CN 201910015229A CN 109605375 A CN109605375 A CN 109605375A
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- Prior art keywords
- tomato
- robot
- picking
- control method
- fruit
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
It is a kind of intelligence Tomato-harvesting robot control method be, pass through radar carry out current map scanning and load；Picking path and picking point are planned by map；Vision module work, is acquired the picture around robot；It detects mature tomato picking, is put into fruit basket, if the total weight of tomato within Weighing module rated range, will work on and pick fruit, otherwise robot will independently return to starting point, this subtask terminates.A kind of control method of intelligent Tomato-harvesting robot of the invention, location navigation is carried out by radar, without carrying out path planning in working region by artificial mode, remote control control mechanical arm is used simultaneously, the tomato that picking solution is covered by branches and leaves, this method not only solves the problems such as difficult artificial picking fruit tomato, at high cost, labour heavy workload, also overcomes the disadvantages of general picking robot volume is big, manufacturing cost is high and some tomatoes can not be picked by cauline leaf covering.
Description
Technical field
The present invention relates to a kind of control methods of intelligent Tomato-harvesting robot.
Background technique
Tomato can reach 60,000,000 tons as most popular one of vegetables, the annual yield in the whole world.Fruit and vegetable picking machine
People studies the U.S. for starting from the 1960s, and the harvesting approach of use mainly has machinery to shake formula and pneumatically shake formula, lacks
Point is fruit rapid wear, inefficient.Hereafter, with electronic technology and science and technology development, especially Industrial Robot Technology,
The research and development technology of the maturation of computer image processing technology and artificial intelligence technology, picking robot has obtained quick hair
Exhibition.There is certain achievement in the country to the research of Tomato-harvesting robot, but also rests on conceptual phase mostly, and these picking machines
Device human body product it is bigger, cost of manufacture is relatively high, intelligence degree be not it is very high, distance is fully applicable in practical agricultural also
A certain distance.Currently, domestic tomato picking operation is substantially relied on and is had been manually done.
Tomato has the characteristics that soft easily to hurt, it is necessary to it is careful softly to be processed, and its growth and development degree is different, phase
Mutually differ greatly.The operator of usual picking robot is little educational, it is desirable that the operability of picking robot must be simple；
The planting site of tomato is substantially all in the fields, and landform is more complicated, is not suitable for general wheeled robot chassis, because of vehicle
Wheel is difficult to keep balance in rugged field, advances also relatively difficult；Tomato often grows than comparatively dense, is not
All exposed some tomatoes can be covered by branches and leaves outside, cause robot that can not detect, reduce the picking of robot
Efficiency；When planting tomato, the distance between every plant can be kept equal, need in the region of picking robot into
Row path planning, traditional path planning needs artificially carry out planning tracking in place, and generally tracking sensor is easy by ring
The influence in border causes robot that cannot advance in defined route.
Summary of the invention
It is an object of the invention to provide a kind of control methods of intelligent Tomato-harvesting robot, and this method solve artificial
The problems such as picking difficult fruit tomato, at high cost, labour heavy workload, also overcome general fruit picking robot volume greatly,
The disadvantages of development cost height and power consumption height and some tomatoes are covered and can not be picked by cauline leafs.
A kind of control method of intelligent Tomato-harvesting robot of the invention, includes the following steps:
1, start robot, the scanning and load of current map are carried out by radar；
2, picking path and picking point are planned by map；
3, chassis mobile system control robot comes picking point；
4, vision module works, and is acquired to the picture around robot；
5, camera judges whether there is mature kind by the color of picture by raspberry pie by the picture transmission of acquisition to raspberry pie
Eggplant carries out information transmission by the master control system that WIFI wireless communication module carries out raspberry pie and robot；
6, detect that mature tomato can pick, raspberry pie calculates the position of tomato by binocular recognizer, communication
Module sends the data to robot master control, then picks tomato by master control system driving mechanical arm, and the tomato of picking is put into fruit
In basket, robot is moved to next tomato plant；
7, the robot no tomato of detection can pick in the picture of camera acquisition, and robot is moved to next tomato and plants
Strain；
8, the tomato being placed in fruit basket, if the total weight of tomato within Weighing module rated range, will work on and adopt
Fruit is plucked, if the total weight of fruits exceeds the rated range of Weighing module, then robot will independently return to starting point,
This subtask terminates.
A kind of control method of intelligent Tomato-harvesting robot, robot return to starting point, and alarm module will
It sounds the alarm and reminds related personnel.
A kind of control method of intelligent Tomato-harvesting robot, after picking task, some tomatoes are by cauline leaf
It covers and can not detect, picked at this time by remote control control mechanical arm.
A kind of control method of intelligent Tomato-harvesting robot of the invention, has the advantages that and is carried out by radar
Location navigation without carrying out path planning in working region by artificial mode, while using remote control control mechanical arm, adopts
Pluck the tomato that solution is covered by branches and leaves, this method not only solves that artificial picking fruit tomato is difficult, at high cost, labour heavy workload
The problems such as, it also overcomes that general picking robot volume is big, manufacturing cost is high and some tomatoes is covered by cauline leaf and can not
The disadvantages of picking, and robot can be autonomously generated working region map, and it is very fast to handle information rate, moreover it is possible to it adapts to more
Complicated terrain environment.
Detailed description of the invention
Fig. 1 is flow diagram of the invention.
Specific embodiment
A kind of control method of intelligence Tomato-harvesting robot, includes the following steps:
1, start robot, the scanning and load of current map are carried out by radar；
2, picking path and picking point are planned by map；
3, chassis mobile system control robot comes picking point；
4, vision module works, and is acquired to the picture around robot；
5, camera judges whether there is mature kind by the color of picture by raspberry pie by the picture transmission of acquisition to raspberry pie
Eggplant carries out information transmission by the master control system that WIFI wireless communication module carries out raspberry pie and robot；
6, detect that mature tomato can pick, raspberry pie calculates the position of tomato by binocular recognizer, communication
Module sends the data to robot master control, then picks tomato by master control system driving mechanical arm, and the tomato of picking is put into fruit
In basket, robot is moved to next tomato plant；
7, the robot no tomato of detection can pick in the picture of camera acquisition, and robot is moved to next tomato and plants
Strain；
8, the tomato being placed in fruit basket, if the total weight of tomato within Weighing module rated range, will work on and adopt
Fruit is plucked, if the total weight of fruits exceeds the rated range of Weighing module, then robot will independently return to starting point,
This subtask terminates.
A kind of control method of intelligent Tomato-harvesting robot, robot return to starting point, and alarm module will
It sounds the alarm and reminds related personnel.
A kind of control method of intelligent Tomato-harvesting robot, after picking task, some tomatoes are by cauline leaf
It covers and can not detect, picked at this time by remote control control mechanical arm.
Claims (3)
1. a kind of control method of intelligence Tomato-harvesting robot, it is characterised in that: it includes the following steps:
(1), start robot, the scanning and load of current map are carried out by radar；
(2), picking path and picking point are planned by map；
(3), chassis mobile system control robot comes picking point；
(4), vision module works, and is acquired to the picture around robot；
(5), camera judges whether there is maturation by the color of picture by raspberry pie by the picture transmission of acquisition to raspberry pie
Tomato carries out information transmission by the master control system that WIFI wireless communication module carries out raspberry pie and robot；
(6), mature tomato picking is detected, raspberry pie is calculated the position of tomato by binocular recognizer, communicates mould
Block sends the data to robot master control, then picks tomato by master control system driving mechanical arm, and the tomato of picking is put into fruit basket
In, robot is moved to next tomato plant；
(7), the robot no tomato of detection can pick in the picture of camera acquisition, and robot is moved to next tomato
Plant；
(8), the tomato being placed in fruit basket, if the total weight of tomato within Weighing module rated range, will work on
Fruit is picked, if the total weight of fruits exceeds the rated range of Weighing module, then robot will be independently back to starting
Point, this subtask terminate.
2. a kind of control method of intelligent Tomato-harvesting robot according to claim 1, it is characterised in that: work as robot
Back to starting point, alarm module will sound the alarm and remind staff.
3. a kind of control method of intelligent Tomato-harvesting robot according to claim 1, it is characterised in that: appoint in picking
After business, some tomatoes are covered and can not be detected by cauline leafs, are picked at this time by remote control control mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910015229.5A CN109605375A (en) | 2019-01-08 | 2019-01-08 | A kind of control method of intelligence Tomato-harvesting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910015229.5A CN109605375A (en) | 2019-01-08 | 2019-01-08 | A kind of control method of intelligence Tomato-harvesting robot |
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| CN109605375A true CN109605375A (en) | 2019-04-12 |
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| CN201910015229.5A Pending CN109605375A (en) | 2019-01-08 | 2019-01-08 | A kind of control method of intelligence Tomato-harvesting robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110178536A (en) * | 2019-07-15 | 2019-08-30 | 昆山博尔广智能科技有限公司 | Tomato-harvesting robot and its control method |
| CN110972717A (en) * | 2019-11-27 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Flexible picking robot |
| CN110972718A (en) * | 2019-11-27 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Flexible picking robot |
| CN112243698A (en) * | 2020-10-22 | 2021-01-22 | 安徽农业大学 | Automatic walnut picking and collecting method based on multi-sensor fusion technology |
| CN113575111A (en) * | 2021-09-01 | 2021-11-02 | 南京农业大学 | Real-time identification positioning and intelligent picking device for greenhouse tomatoes |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110178536A (en) * | 2019-07-15 | 2019-08-30 | 昆山博尔广智能科技有限公司 | Tomato-harvesting robot and its control method |
| CN110972717A (en) * | 2019-11-27 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Flexible picking robot |
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| CN112243698A (en) * | 2020-10-22 | 2021-01-22 | 安徽农业大学 | Automatic walnut picking and collecting method based on multi-sensor fusion technology |
| US11406061B2 (en) | 2020-10-22 | 2022-08-09 | Anhui Agricultural University | Automated walnut picking and collecting method based on multi-sensor fusion technology |
| CN113575111A (en) * | 2021-09-01 | 2021-11-02 | 南京农业大学 | Real-time identification positioning and intelligent picking device for greenhouse tomatoes |
| CN113575111B (en) * | 2021-09-01 | 2022-04-19 | 南京农业大学 | Real-time identification positioning and intelligent picking device for greenhouse tomatoes |
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Application publication date: 20190412 |