CN111758424B - Automatic device of pinching of field cotton - Google Patents
Automatic device of pinching of field cotton Download PDFInfo
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- CN111758424B CN111758424B CN202010606347.6A CN202010606347A CN111758424B CN 111758424 B CN111758424 B CN 111758424B CN 202010606347 A CN202010606347 A CN 202010606347A CN 111758424 B CN111758424 B CN 111758424B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G7/00—Botany in general
- A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
Abstract
Aiming at the problem that the topping efficiency and the topping precision of the existing cotton topping device are difficult to be considered at the same time when the topping operation is carried out in the field environment, the automatic field cotton topping device is provided. The device mainly comprises an autonomous mobile platform, a cotton height coarse positioning device, a cotton top three-dimensional identification and fine positioning device, a cotton top removing device, a power supply system and a control system. The device can independently and efficiently walk on different cotton plots by taking the independent mobile platform as a carrier. The cotton plant height primary positioning in the field environment is carried out through the cotton height coarse positioning device, the secondary positioning of the topping target is carried out through the cotton top three-dimensional recognition and fine positioning device, the tertiary accurate positioning of the topping target is carried out through the color camera installed on the cotton topping device, and the automatic recognition and the accurate removal of the cotton top in the field are achieved. Greatly improving the efficiency and precision of cotton topping in field environment.
Description
Technical Field
The invention belongs to the field of agricultural robots, and relates to an automatic cotton operation device. In particular to an automatic topping device for field cotton, which is used for automatically topping cotton planted in the field.
Background
The cotton has the habit of unlimited growth and obvious top end advantages. By removing the apical core, the growth of the main stem can be controlled, the vegetative growth and reproductive growth are coordinated, more nutrients are promoted to be transported to fruit branches, the fruit branches are supplied with fructification organs, and ineffective fruit branches are reduced. At present, the cotton topping technology comprises three types of manual topping, mechanical topping, chemical topping and the like. Although the precision of manual topping is high, the working environment is severe, the labor intensity is high, the labor and the time are wasted, the efficiency is low, and the optimal topping period is easy to miss, so that the cotton growth period is different, and the cotton yield is reduced. Mechanical topping is more efficient than manual work, but has higher requirements on the terrain and the cotton growth uniformity, the missing topping rate is up to 20 percent, the plants and the bolls are seriously damaged, the boll opening efficiency is reduced, and the yield is influenced. Chemical topping, stopping cotton growth by spraying growth inhibitor, although the growth of cotton can be inhibited, the cotton yield is reduced, and the environment is easily polluted greatly. The technical device and the method for topping the cotton in the field, which can realize automatic, efficient, accurate and environment-friendly topping, are urgently needed. At present, the Xinjiang rock river university team carries out related researches on key cotton topping technologies, such as the thesis ' research on cotton topping machine cotton plant height identification technology ' (Shenchen, 2018) ' cotton plant identification system research based on machine vision technology ' (Dianthus superbus, 2013) ' and the like, and for potted cotton, the binocular vision technology is used for taking pictures from the side to position and calculate the height of a cotton plant, so that a basis is provided for height adjustment of a cotton topping mechanism. But it uses lateral imaging to locate the target cotton plants rather than the object to be topped. The method is still difficult to be applied to automatic topping of cotton in a field close planting environment.
The invention provides an automatic field cotton topping device and method, which take a multifunctional wheel type intelligent mobile platform as a carrier to automatically identify and accurately cut off the top of field cotton, greatly reduce the manual topping cost and improve the topping efficiency and precision.
Disclosure of Invention
The invention discloses an automatic field cotton topping device and method, which can automatically realize automatic, efficient and high-precision topping of field cotton. The specific invention content is as follows:
the utility model provides an automatic device of pinching of field cotton for the automatic accurate removal at field cotton top, its characterized in that: the device comprises an autonomous mobile platform, a cotton height coarse positioning device, a cotton top three-dimensional identification and fine positioning device, a cotton top removing device, a power supply system and a control system; the autonomous mobile platform moves in a four-wheel independent driving and independent steering mode; the mobile robot platform is provided with a high-precision GPS autonomous navigation module system and has two working modes of remote control and autonomous navigation; the cotton height rough positioning device is matched with the cotton top three-dimensional recognition and fine positioning device, the accurate positioning and recognition of the top-removing target are realized through three-stage positioning, specifically, the adjustment of the autonomous mobile platform is realized through the cotton height rough positioning device, the primary positioning is carried out on cotton, the secondary positioning is carried out on the top-removing target through the cotton top three-dimensional recognition and fine positioning device, and finally, the three-stage positioning is carried out through a camera installed at the tail end of the cotton top-removing device; the cotton top removing mechanism carries out top removing operation based on the accurate identification information of the cotton top; the power supply system provides power for the automatic field cotton topping device.
Specifically, four wheel sets of the autonomous mobile platform are respectively connected with each supporting rod through a lifting mechanism, the supporting rods are connected with the bearing platform, and the telescopic mechanism adjusts the height of the autonomous mobile platform through telescopic motion; the supporting rod and the bearing platform rotate relatively, so that the wheel set is driven to rotate integrally relative to the bearing platform, and the running width of the autonomous mobile platform is adjusted; the lifting range of the autonomous mobile platform is 0-40cm, and the height of the bottom of the bearing platform from the ground is 1.2-1.6m and can be adjusted.
Specifically, the supporting rod is connected with the bearing platform through a flange, 8 fixing holes are uniformly distributed on the flange, and the supporting rod and the bearing platform rotate relatively at intervals of 22.5 degrees to further adjust the running width of the mobile robot platform; the horizontal length of a single supporting rod is set to be 0.5 m, and the adjusting range between platform wheel sets of the mobile robot is 0-0.6 m; the driving span is adjustable within 1.4-2 m.
Specifically, after the cotton height rough positioning device measures the canopy height of a field cotton group through an ultrasonic sensor, the stroke of a telescopic mechanism is fed back and adjusted, and the bearing platform is adjusted to a proper height; the bottom of the bearing platform is 30cm away from the cotton canopy to ensure that the distance between the cotton top three-dimensional recognition and fine positioning device and the cotton top is within a certain range, and the cotton top recognition and positioning precision is improved.
Specifically, the cotton top three-dimensional identification and fine positioning device adopts a three-dimensional camera and a three-degree-of-freedom parallel mechanical arm to realize identification and positioning of the cotton top; the three-dimensional camera and the three-degree-of-freedom parallel mechanical arm are fixed in relative position, and the three-degree-of-freedom parallel mechanical arm is controlled to move to a target position through the identification result of the three-dimensional camera on the top of the cotton.
Specifically, the maximum reciprocating speed of the three-degree-of-freedom parallel manipulator is 120 times/minute, and the terminal moving range is as follows: the diameter of the cotton is 1.4 meters in the horizontal direction, the moving range of the cotton is 0-60cm in the vertical direction, and a plurality of sets of three-degree-of-freedom parallel manipulators can be simultaneously installed on the cotton top three-dimensional recognition and fine positioning device so as to improve the efficiency.
Specifically, the cotton top three-dimensional identification and fine positioning device identifies the cotton top through the three-dimensional camera, and the identification criteria are as follows according to the actual states of cotton top images which are collected, without topping cotton, with the only cotton needing topping and with multiple cottons needing topping: if the cotton needing topping is not identified in the image, no processing is carried out, and image acquisition and identification are continued; if the image has the cotton which needs to be topped only, setting the cotton as a target; if a plurality of cotton needs to be topped in the image, firstly calculating the number of the cotton needing to be topped in the view field, automatically adjusting the driving speed according to the number, setting the driving speed to be lower when the number of the cotton needing to be topped is larger, and setting the top with the maximum area identified in the image as a target to carry out topping; and calculating the three-dimensional space position coordinates of the cotton set as the target, and feeding the three-dimensional space position coordinates back to the three-degree-of-freedom parallel manipulator.
Specifically, color camera and top cutting device install in three degree of freedom parallel manipulator end central point department, color camera carries out the target and fixes a position closely thrice, top cutting device is high strength point laser instrument, the during operation is along with the motion of parallel manipulator, remove to target cotton top department back, acquire the target image through color camera, discernment target central point puts and finely tunes top cutting device position, eliminate the cotton and shelter from the influence that causes the effect of topping, realize the accurate cutting at target cotton top, the laser cutting wound is neat, no secondary pollution.
Specifically, the top cutting device adopts a cutter or a fine spray head as a substitute, and the cutter is used for cutting or an exfoliant is accurately sprayed to remove the top in specific implementation.
Specifically, the control system comprises two relatively independent control modules; the device comprises a single chip microcomputer, a miniature embedded development board, a three-degree-of-freedom parallel manipulator, a micro embedded development board and a micro embedded development board, wherein the micro embedded development board is used for performing cotton top image visual identification and three-degree-of-freedom parallel manipulator motion control, and the micro embedded development board are communicated by adopting a 485 protocol.
The technical advantages of the device and the method for automatically topping the field cotton provided by the invention include:
(1) high flux, high efficiency and saving labor. The whole topping process is completely autonomous, manual participation is not needed, the maximum reciprocating speed of the single-group three-degree-of-freedom parallel mechanical arm is 120 times/minute, multiple groups can be arranged simultaneously, the topping efficiency is high, and the labor cost can be greatly saved.
(2) The universality is strong and the adaptability is wide. The automatic cotton topping device in the field can automatically and freely walk in the cotton field, has adjustable wheel track and height, meets the cotton topping requirements of different varieties, different planting modes and different growth heights, and has good universality and wide adaptability.
(3) High precision, low damage rate and miss-hit rate and good effect. In the field cotton close planting environment, the target shielding is serious, and the topping target positioning and identification are difficult. The invention adopts a three-level positioning mode to realize the accurate positioning of the target to be topped, has high positioning accuracy, adopts the camera to identify each target, has high identification accuracy, thereby reducing the damage rate and the miss rate, has higher yield after operation than the traditional method, and has good operation effect.
(4) Energy conservation and environmental protection. According to the invention, the solar cell panel is arranged on the automatic moving platform, and can be used for charging the lithium battery. The invention does not need to provide additional energy when in normal work, and is energy-saving and environment-friendly.
Drawings
FIG. 1 is a schematic view of an automatic cotton topping device and method
FIG. 2 is a schematic view of visual recognition of cotton top and positioning of three-degree-of-freedom parallel mechanical arm
Detailed Description
An automatic field cotton topping device and method mainly comprise an autonomous mobile platform, a cotton height coarse positioning device, a cotton top three-dimensional identification and fine positioning device, a cotton topping device, a power supply system and a control system. The specific implementation scheme is as follows:
the utility model provides an automatic device of pinching of field cotton for the automatic accurate removal at field cotton top, its characterized in that: the device comprises an autonomous mobile platform, a cotton height coarse positioning device, a cotton top three-dimensional identification and fine positioning device, a cotton top removing device, a power supply system and a control system; the autonomous mobile platform moves in a four-wheel independent driving and independent steering mode; the mobile robot platform is provided with a high-precision GPS autonomous navigation module system and has two working modes of remote control and autonomous navigation; the cotton height rough positioning device is matched with the cotton top three-dimensional recognition and fine positioning device, the accurate positioning and recognition of the top-removing target are realized through three-stage positioning, specifically, the adjustment of the autonomous mobile platform is realized through the cotton height rough positioning device, the primary positioning is carried out on cotton, the secondary positioning is carried out on the top-removing target through the cotton top three-dimensional recognition and fine positioning device, and finally, the three-stage positioning is carried out through a camera installed at the tail end of the cotton top-removing device; the cotton top removing mechanism carries out top removing operation based on the accurate identification information of the cotton top; the power supply system provides power for the automatic field cotton topping device.
Specifically, four wheel sets of the autonomous mobile platform are respectively connected with each supporting rod through a lifting mechanism, the supporting rods are connected with the bearing platform, and the telescopic mechanism adjusts the height of the autonomous mobile platform through telescopic motion; the supporting rod and the bearing platform rotate relatively, so that the wheel set is driven to rotate integrally relative to the bearing platform, and the running width of the autonomous mobile platform is adjusted; the lifting range of the autonomous mobile platform is 0-40cm, and the height of the bottom of the bearing platform from the ground is 1.2-1.6m and can be adjusted.
Specifically, the supporting rod is connected with the bearing platform through a flange, 8 fixing holes are uniformly distributed on the flange, and the supporting rod and the bearing platform rotate relatively at intervals of 22.5 degrees to further adjust the running width of the mobile robot platform; the horizontal length of a single supporting rod is set to be 0.5 m, and the adjusting range between platform wheel sets of the mobile robot is 0-0.6 m; the driving span is adjustable within 1.4-2 m.
Specifically, after the cotton height rough positioning device measures the canopy height of a field cotton group through an ultrasonic sensor, the stroke of a telescopic mechanism is fed back and adjusted, and the bearing platform is adjusted to a proper height; the bottom of the bearing platform is 30cm away from the cotton canopy to ensure that the distance between the cotton top three-dimensional recognition and fine positioning device and the cotton top is within a certain range, and the cotton top recognition and positioning precision is improved.
Specifically, the cotton top three-dimensional identification and fine positioning device adopts a three-dimensional camera and a three-degree-of-freedom parallel mechanical arm to realize identification and positioning of the cotton top; the three-dimensional camera and the three-degree-of-freedom parallel mechanical arm are fixed in relative position, and the three-degree-of-freedom parallel mechanical arm is controlled to move to a target position through the identification result of the three-dimensional camera on the top of the cotton.
Specifically, the maximum reciprocating speed of the three-degree-of-freedom parallel manipulator is 120 times/minute, and the terminal moving range is as follows: the diameter of the cotton is 1.4 meters in the horizontal direction, the moving range of the cotton is 0-60cm in the vertical direction, and a plurality of sets of three-degree-of-freedom parallel manipulators can be simultaneously installed on the cotton top three-dimensional recognition and fine positioning device so as to improve the efficiency.
Specifically, the cotton top three-dimensional identification and fine positioning device identifies the cotton top through the three-dimensional camera, and the identification criteria are as follows according to the actual states of cotton top images which are collected, without topping cotton, with the only cotton needing topping and with multiple cottons needing topping: if the cotton needing topping is not identified in the image, no processing is carried out, and image acquisition and identification are continued; if the image has the cotton which needs to be topped only, setting the cotton as a target; if a plurality of cotton needs to be topped in the image, firstly calculating the number of the cotton needing to be topped in the view field, automatically adjusting the driving speed according to the number, setting the driving speed to be lower when the number of the cotton needing to be topped is larger, and setting the top with the maximum area identified in the image as a target to carry out topping; and calculating the three-dimensional space position coordinates of the cotton set as the target, and feeding the three-dimensional space position coordinates back to the three-degree-of-freedom parallel manipulator.
Specifically, color camera and top cutting device install in three degree of freedom parallel manipulator end central point department, color camera carries out the target and fixes a position closely thrice, top cutting device is high strength point laser instrument, the during operation is along with the motion of parallel manipulator, remove to target cotton top department back, acquire the target image through color camera, discernment target central point puts and finely tunes top cutting device position, eliminate the cotton and shelter from the influence that causes the effect of topping, realize the accurate cutting at target cotton top, the laser cutting wound is neat, no secondary pollution.
Specifically, the top cutting device adopts a cutter or a fine spray head as a substitute, and the cutter is used for cutting or an exfoliant is accurately sprayed to remove the top in specific implementation.
Specifically, the control system comprises two relatively independent control modules; the device comprises a single chip microcomputer, a miniature embedded development board, a three-degree-of-freedom parallel manipulator, a micro embedded development board and a micro embedded development board, wherein the micro embedded development board is used for performing cotton top image visual identification and three-degree-of-freedom parallel manipulator motion control, and the micro embedded development board are communicated by adopting a 485 protocol.
More specifically, the implementation may employ the following operational steps.
(1) Preparation work: selecting a cotton land to be topped, and measuring the row spacing of cotton planting. The wheel row spacing of the topping device is manually adjusted to adapt to a local plot, so that the topping device can walk in a cotton field without damaging seedlings, and the automatic topping device for field cotton is moved into the cotton plot.
(2) Primary positioning: the ultrasonic distance measuring sensor automatically measures the height of the cotton canopy, and automatically feeds back and adjusts the telescopic device to adjust the bottom of the bearing platform to a position about 30cm away from the cotton canopy (primary positioning). The working mode, the remote control mode or the autonomous navigation mode of the device are selected. The remote control mode requires an operator to control the device to move forwards, backwards and turn through a remote controller; in the autonomous navigation mode, the route planning is required to be carried out in advance, so that the device runs according to the planned route at the initial set speed.
(3) And (3) starting detection: after the device starts to move, the stereo camera starts to collect and identify the cotton canopy images. If the cotton needing topping is not identified in the image, continuing to acquire and identify the image; if cotton needing topping exists in the image, firstly, the number of the cotton needing topping in the visual field is calculated, and the driving speed is automatically adjusted according to the number. The more the number of the topping is, the lower the set running speed is. The maximum top identified in the image is targeted no matter how many cottons to be topped are in the image.
(4) Secondary positioning: and calculating the three-dimensional space position coordinates of the identified target, and simultaneously acquiring the moving speed and direction of the vehicle at the moment through a driving wheel encoder feedback signal. And calculating the identified three-dimensional space coordinate information by combining the moving speed and the moving direction of the vehicle through the controller to form a new three-dimensional position coordinate. And controlling the cotton topping device to move to a new three-dimensional coordinate along with the three-degree-of-freedom parallel mechanical arm.
(5) And (3) positioning for three times: after the cotton topping device is moved to a new three-dimensional coordinate position, a camera of the cotton topping device shoots a top image of the target cotton, calculates the plane position of the center of the top, and feeds back and adjusts the position of the top cutting device to enable the top cutting device to be accurately aligned to the target to be cut.
(6) And (3) top removing operation: and after the third positioning is finished, controlling the cutting part to act to perform topping cutting. And then the parallel mechanical arms return to the original point, and the top removing operation is finished. And then, the step 3 is carried out, and the cotton canopy image acquisition and identification are carried out again, and the steps are repeated. After the work is finished, cotton which does not need topping in the collected image is connected in parallel with the mechanical arm at the original point position, and the device is closed.
The specific embodiments described in this application are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (8)
1. The utility model provides an automatic device of pinching of field cotton for the automatic accurate removal at field cotton top, its characterized in that: the device comprises an autonomous mobile platform, a cotton height coarse positioning device, a cotton top three-dimensional identification and fine positioning device, a cotton top removing device, a power supply system and a control system; the autonomous mobile platform moves in a four-wheel independent driving and independent steering mode; the autonomous mobile platform is provided with a high-precision GPS autonomous navigation module system and has two working modes of remote control and autonomous navigation; the cotton height rough positioning device is matched with the cotton top three-dimensional recognition and fine positioning device, the accurate positioning and recognition of the top-removing target are realized through three-stage positioning, specifically, the adjustment of the autonomous mobile platform is realized through the cotton height rough positioning device, the primary positioning is carried out on cotton, the secondary positioning is carried out on the top-removing target through the cotton top three-dimensional recognition and fine positioning device, and finally, the three-stage positioning is carried out through a color camera arranged at the tail end of the cotton top-removing device; the cotton topping device carries out topping operation based on the accurate identification information of the cotton top; the power supply system provides power for the automatic field cotton topping device; the device comprises a field cotton population height rough positioning device, a telescopic mechanism, a bearing platform, an ultrasonic sensor, a telescopic mechanism and a control device, wherein the cotton height rough positioning device feeds back and adjusts the stroke of the telescopic mechanism after measuring the canopy height of the field cotton population through the ultrasonic sensor, and adjusts the bearing platform to a proper height; the cotton top three-dimensional identification and fine positioning device adopts a three-dimensional camera and a three-degree-of-freedom parallel manipulator to realize identification and positioning of the cotton top; the color camera and the top cutting device are arranged at the center of the tail end of the three-degree-of-freedom parallel manipulator, and the color camera carries out three times of target short-distance positioning; after the device starts to move, the stereo camera starts to collect and identify the cotton canopy images, the number of cotton needing topping in a view field is identified, and the driving speed is automatically adjusted according to the number;
the three-dimensional camera and the three-degree-of-freedom parallel manipulator are fixed in relative installation position, and the three-degree-of-freedom parallel manipulator is controlled to move to a target position according to a cotton top identification result of the three-dimensional camera;
the cotton top three-dimensional identification and fine positioning device identifies the cotton top through the three-dimensional camera, and the identification criteria are as follows according to the actual states of cotton top images which are collected, such as no need of topping, unique need of topping and multiple cottons which need topping, wherein: if the cotton needing topping is not identified in the image, no processing is carried out, and image acquisition and identification are continued; if the image has the only cotton needing topping, setting the cotton as a target; if a plurality of cotton needs to be topped in the image, firstly calculating the number of the cotton needing to be topped in the view field, automatically adjusting the driving speed according to the number, setting the driving speed to be lower when the number of the cotton needing to be topped is larger, and setting the top with the maximum area identified in the image as a target to carry out topping; and calculating the three-dimensional space position coordinates of the cotton set as the target, and feeding the three-dimensional space position coordinates back to the three-degree-of-freedom parallel manipulator.
2. The automatic topping device of field cotton as claimed in claim 1, wherein: the four wheel sets of the autonomous mobile platform are respectively connected with the supporting rods through the lifting mechanisms, the supporting rods are connected with the bearing platform, and the telescopic mechanisms adjust the height of the autonomous mobile platform through telescopic motion; the supporting rod and the bearing platform rotate relatively, so that the wheel set is driven to rotate integrally relative to the bearing platform, and the running width of the autonomous mobile platform is adjusted; the lifting range of the autonomous mobile platform is 0-40cm, and the height of the bottom of the bearing platform from the ground is 1.2-1.6m and can be adjusted.
3. The automatic topping device of field cotton as claimed in claim 2, wherein: the supporting rod is connected with the bearing platform through a flange, 8 fixing holes are uniformly distributed on the flange, and the supporting rod and the bearing platform rotate relatively at an interval unit of 22.5 degrees so as to adjust the running width of the autonomous mobile platform; the horizontal length of a single supporting rod is set to be 0.5 m, and the adjusting range between the wheel sets of the autonomous mobile platform is 0-0.6 m; the driving span is adjustable within 1.4-2 m.
4. The automatic topping device of field cotton as claimed in claim 1, wherein: the bottom of the bearing platform is 30cm away from the cotton canopy to ensure that the distance between the cotton top three-dimensional recognition and fine positioning device and the cotton top is within a certain range, and the cotton top recognition and positioning precision is improved.
5. The automatic topping device of field cotton as claimed in claim 1, wherein: the maximum reciprocating speed of the three-degree-of-freedom parallel manipulator is 120 times/minute, and the terminal moving range is as follows: the diameter of the cotton is 1.4 meters in the horizontal direction, the moving range of the cotton is 0-60cm in the vertical direction, and a plurality of sets of three-degree-of-freedom parallel manipulators can be simultaneously installed on the cotton top three-dimensional recognition and fine positioning device so as to improve the efficiency.
6. The automatic topping device of field cotton as claimed in claim 4, wherein: color camera and top cutting device install in three degree of freedom parallel manipulator end central point department, color camera carries out the target and fixes a position closely the cubic, top cutting device is high strength point laser instrument, the during operation is along with parallel manipulator's motion, remove to target cotton top department back, acquire the target image through color camera, discernment target central point puts and finely tunes top cutting device position, eliminate the cotton and shelter from the influence that causes the effect of pinching, realize the accurate cutting at target cotton top, the laser cutting wound is neat, no secondary pollution.
7. The automatic topping device of field cotton as claimed in claim 6, wherein: the top cutting device adopts a cutter or a thin nozzle as a substitute, and the cutter is used for cutting or the shedding agent is accurately sprayed to remove the top in specific implementation.
8. The automatic topping device of field cotton as claimed in claim 1, wherein: the control system comprises two relatively independent control modules; the device comprises a single chip microcomputer, a miniature embedded development board, a three-degree-of-freedom parallel manipulator, a micro embedded development board and a micro embedded development board, wherein the micro embedded development board is used for performing cotton top image visual identification and three-degree-of-freedom parallel manipulator motion control, and the micro embedded development board are communicated by adopting a 485 protocol.
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| CN115067099A (en) * | 2021-03-15 | 2022-09-20 | 西北农林科技大学 | Apple flower thinning machine |
| CN112949660A (en) * | 2021-04-21 | 2021-06-11 | 桑一男 | Abelmoschus manihot flower recognition and positioning method and device based on non-parallel cameras |
| CN114303680B (en) * | 2021-12-30 | 2023-04-07 | 广州极飞科技股份有限公司 | Topping control method and device, topping device, electronic device and medium |
| CN114223414B (en) * | 2021-12-31 | 2023-05-02 | 广州极飞科技股份有限公司 | Cotton topping control method, cotton topping equipment and related device |
| CN114946439B (en) * | 2022-03-23 | 2023-05-30 | 华中农业大学 | Intelligent and accurate topping device for field cotton |
| CN114788465B (en) * | 2022-04-21 | 2023-10-20 | 农业农村部南京农业机械化研究所 | Multifunctional crop topping machine |
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