CN112772146A - Transportation control system and linkage control method of orchard picking tractor - Google Patents
Transportation control system and linkage control method of orchard picking tractor Download PDFInfo
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- CN112772146A CN112772146A CN202110025794.7A CN202110025794A CN112772146A CN 112772146 A CN112772146 A CN 112772146A CN 202110025794 A CN202110025794 A CN 202110025794A CN 112772146 A CN112772146 A CN 112772146A
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- 239000002420 orchard Substances 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 18
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 66
- 230000008447 perception Effects 0.000 claims abstract description 7
- 230000005484 gravity Effects 0.000 claims description 10
- 230000005855 radiation Effects 0.000 claims description 5
- 238000003306 harvesting Methods 0.000 claims 1
- 241000208340 Araliaceae Species 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
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- 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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
本发明提供了一种果园采摘拖拉机的运输控制系统及联动控制方法，包括拖拉机、拖车组，环境感知模块、信息模块和智能决策模块；所述环境感知模块包括拖拉机超声波雷达和拖拉机深度识别相机；所述智能决策模块根据拖拉机深度识别相机获取的果树的结果位置图像计算出需要采摘的果实的空间坐标；所述智能决策模块根据需要采摘的果实的空间坐标、拖拉机的速度、机械臂与水平面所成夹角θ、拖拉机与果树的距离和拖拉机的位置信息控制拖拉机、升降平台和采摘机械臂联动；所述智能决策模块根据拖车与拖拉机定位信息、拖车的速度、拖车中装载水果的重量和拖车的位置信息控制拖车的移动。本发明可提高果园采摘的效率，减轻果园工作的负担。
The invention provides a transportation control system and a linkage control method for an orchard picking tractor, including a tractor, a trailer group, an environment perception module, an information module and an intelligent decision-making module; the environment perception module includes a tractor ultrasonic radar and a tractor depth identification camera; The intelligent decision-making module calculates the spatial coordinates of the fruit to be picked according to the result position image of the fruit tree obtained by the tractor's depth recognition camera; The included angle θ, the distance between the tractor and the fruit tree, and the position information of the tractor control the linkage between the tractor, the lifting platform and the picking robotic arm; the intelligent decision-making module is based on the positioning information of the trailer and the tractor, the speed of the trailer, the weight of the fruit loaded in the trailer and the trailer. The position information controls the movement of the trailer. The invention can improve the picking efficiency of the orchard and reduce the work burden of the orchard.
Description
Technical Field
The invention relates to the field of agriculture and forestry equipment or picking equipment, in particular to a transportation control system and a linkage control method of an orchard picking tractor.
Background
In recent years, domestic intelligent control is developed rapidly, and the intelligent control system is widely applied to the field of agricultural machinery, the intellectualization of the agricultural machinery can be a wide concern gradually, and an intelligent picking machine is a research hotspot gradually. With the rapid improvement of the urbanization industrialization degree in China, the agricultural population in China is greatly reduced, enough labor cannot be input to work during agricultural planting, and most agricultural planting workers cannot do gross labor because the aging of the agricultural population is gradually increased. The intelligent driving and visual recognition technology in the field is gradually mature, technicians hope that an intelligent agricultural machine capable of automatically transporting fruits can enable the intelligent transportation of the fruits to be possible, help agricultural workers to reduce labor burden, improve labor efficiency, reduce labor cost and enable manpower to play a role in the fruit picking link which needs ginseng and fruits more.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a transportation control system and a linkage control method of an orchard picking tractor, which can improve the orchard picking efficiency and reduce the work burden of an orchard.
The present invention achieves the above-described object by the following technical means.
A transportation control system of an orchard picking tractor comprises a tractor, a tractor group, an environment sensing module, an information module and an intelligent decision module; the tractor is connected with a trailer group through a tractor back plate, and the trailer group at least comprises 1 trailer;
the environment perception module comprises a tractor ultrasonic radar and a tractor depth recognition camera; the tractor ultrasonic radar is used for detecting the distance between the tractor and the fruit tree; the tractor depth recognition camera is used for acquiring a fruit tree result position image;
the information module comprises a tractor speed sensor, a tractor GPS sensor, a trailer speed sensor, a trailer ultrasonic radar, a trailer GPS sensor, a trailer gravity sensor, a UWB sensor and a level gauge sensor; the tractor speed sensor is used for measuring the speed of the tractor; the tractor GPS sensor is used for positioning the position information of the tractor; the trailer speed sensor is used for measuring the speed of the trailer; the trailer ultrasonic radar is used for detecting the distance between the tractor and the trailer; the UWB sensor is arranged between the trailer and the back plate of the tractor and is used for positioning the trailer and the tractor; the trailer GPS sensor is used for positioning the position information of the trailer; the trailer gravity sensor is used for measuring the weight of the fruit loaded in the trailer; the level meter sensor is used for measuring an included angle theta formed by the mechanical arm and a horizontal plane;
the intelligent decision-making module acquires information of the environment perception module and the information module; the intelligent decision module calculates the space coordinates of the fruits to be picked according to the fruit tree result position images acquired by the tractor depth recognition camera; the intelligent decision module controls the tractor, the lifting platform and the picking mechanical arm to be linked according to the space coordinate of the fruit to be picked, the speed of the tractor, the included angle theta formed by the mechanical arm and the horizontal plane, the distance between the tractor and the fruit tree and the position information of the tractor;
the intelligent decision-making module controls the movement of the trailer according to the positioning information of the trailer and the tractor, the speed of the trailer, the weight of the fruit loaded in the trailer and the position information of the trailer.
The intelligent decision-making module acquires information of the tractor infrared sensor and the tractor path identification camera and is used for identifying whether an obstacle exists on the tractor running path or not; the information module further comprises a trailer infrared sensor and a trailer path identification camera, the trailer infrared sensor is used for collecting radiation information of a trailer driving path, the trailer path identification camera is used for collecting image information of the trailer driving path, and the intelligent decision module acquires information of the trailer infrared sensor and the trailer path identification camera and is used for identifying whether an obstacle exists on the trailer driving path.
Furthermore, a flat plate is arranged in any trailer box body, and the surface of the flat plate is wrapped with soft rubber; the flat plate is arranged at the bottom of the box body through four springs; the elastic modulus of the spring at the rear part of the flat plate is smaller than that of the spring at the front part, the length of the spring at the rear part is smaller than that of the spring at the front part, and the trailer gravity sensor is arranged at the bottom of the flat plate.
Further, the picking mechanical arm comprises a mechanical arm and an electric picking device, the electric picking device is mounted at the tail end of the mechanical arm, a circular sleeve is mounted outside the electric picking device and connected with a net bag, and the tail of the net bag penetrates through a back plate of a tractor and is communicated with the interior of the trailer.
Further, the net bag is made of soft thick ropes.
A linkage control method of a transportation control system of an orchard picking tractor comprises the following steps:
the intelligent decision module calculates the space coordinates of the fruits to be picked according to the fruit tree result position images acquired by the tractor depth recognition camera;
the intelligent decision module calculates the distance L between the fruits to be picked and the mechanical arm base, compares the distance L between the fruits to be picked and the mechanical arm base with the arm length S of the mechanical arm,
if L is smaller than S, the intelligent decision module directly generates a planned path of the mechanical arm and controls the action of the mechanical arm;
if L is larger than S, the intelligent decision module obtains an included angle theta formed by the mechanical arm and the horizontal plane, the intelligent decision module compares L & cos theta with the arm length S of the mechanical arm, and if L & cos theta is smaller than S, the intelligent decision module controls the lifting platform to lift and ascend
Then, generating a planned path of the mechanical arm and controlling the action of the mechanical arm; if L is larger than S, the intelligent decision module controls the tractor to travel a distance D (L-S) cos theta in the direction of needing to pick the fruits, and the L is smaller than S.
Further, the intelligent decision module performs primary PID control on the driving distance of the tractor, the PID input is a difference D1 between the D and the actual measured distance of the tractor ultrasonic radar, and the PID output is the actual distance until L × cos θ is smaller than S.
Further, the trailer group control method comprises the following steps:
the intelligent decision-making module respectively controls the first trailer and the second trailer to move to the positions near the fruit trees along the path of the tractor, and the third trailer is positioned in the warehouse to stand by;
the intelligent decision-making module enables the front part of the trailer and a back plate of the tractor to be accurately positioned according to the UWB sensor, and the intelligent decision-making module controls the picking mechanical arm to convey picked fruits to the first trailer; the second trailer waits outside the path planned to be traveled by the first trailer;
when the weight in the first trailer exceeds a set value, the intelligent decision-making module controls the front part of the trailer to be disconnected with a back plate of the tractor, and the intelligent decision-making module controls the first trailer to automatically run to a warehouse; the intelligent decision module controls the second trailer to run to the back plate of the tractor and then is connected with the second trailer;
the intelligent decision module controls the third trailer, which is on standby in the warehouse, to be automatically driven into proximity with the tractor if the second trailer is already full before the first trailer is returned into proximity with the tractor.
The invention has the beneficial effects that:
1. the transportation control system and the linkage control method of the orchard picking tractor can enable the intelligent picking tractor to pick all the time in a small orchard which is planned and designed, and save the link of full transportation and warehouse return.
2. The transport control system and the linkage control method of the orchard picking tractor provide an effective linear control algorithm, and the transport system can be accurately controlled by applying the control algorithm, so that the generated effect of the transport system can be optimally controlled.
3. The transportation control system and the linkage control method of the orchard picking tractor extract the control algorithm of the mechanical arm lifting platform, and the system can be applied to effectively and accurately control the picking mechanical arm.
4. According to the transportation control system and the linkage control method of the orchard picking tractor, the obstacles which may appear in an orchard are identified in a detailed mode, after the obstacles which can move autonomously, such as people, are identified, the orchard picking tractor stops in a safe distance, the warning device works to warn, and path planning is not needed again.
Drawings
Fig. 1 is a view of the orchard picking tractor and tractor structure according to the invention.
Fig. 2 is a schematic view of a transportation control system of the orchard picking tractor according to the invention.
Fig. 3 is a control schematic diagram of a transportation control system of the orchard picking tractor according to the invention.
Fig. 4 is a flow chart of a linkage control method of the transportation control system of the orchard picking tractor according to the invention.
In the figure:
1-a tractor path recognition camera; 2-a warning device; 3-tractor infrared sensor; 4-ultrasonic radar of tractor; 5-tractor speed sensor; 6-tractor GPS sensor; 7-an electromagnet; 8-trailer speed sensor; 9-trailer ultrasonic radar; 10-trailer GPS sensor; 11-trailer gravity sensor; 12-trailer infrared sensors; 13-trailer path recognition camera; 14-a net bag; 15-trailer depth recognition camera; 16-trailer UWB sensors; 17-backplane UWB sensors; 18-level sensor.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1 and 2, the transportation control system of the orchard picking tractor comprises a tractor, a tractor group, an environment sensing module, an information module and an intelligent decision module; the tractor is connected with a trailer group through a tractor back plate, and the trailer group at least comprises 1 trailer;
the environment perception module comprises a tractor ultrasonic radar 4, a tractor depth recognition camera 15, a tractor infrared sensor 3 and a tractor path recognition camera 1; the tractor ultrasonic radar 4 is arranged at the lower end of the tractor and used for detecting the distance between the tractor and the fruit tree; the tractor depth recognition camera 15 is mounted on the picking mechanical arm and used for acquiring a fruit position image of a fruit tree; the tractor infrared sensor 3 is arranged at the front part of the tractor and is used for acquiring radiation information of a tractor running path; the tractor path recognition camera 1 is arranged at the top of the tractor and used for acquiring tractor running path image information;
the information module comprises a tractor speed sensor 5, a tractor GPS sensor 6, a trailer speed sensor 8, a trailer ultrasonic radar 9, a trailer GPS sensor 10, a trailer gravity sensor 11, a UWB sensor, a level gauge sensor 18, a trailer infrared sensor 12 and a trailer path identification camera 13; the tractor speed sensor 5 is arranged on a front wheel axle of the tractor and used for measuring the speed of the tractor; the tractor GPS sensor 6 is arranged on the tractor and used for positioning the position information of the tractor; the trailer speed sensor 8 is arranged on a wheel axle of a front wheel of the trailer and is used for measuring the speed of the trailer; the trailer ultrasonic radar 9 is arranged at the front part of the trailer and is used for detecting the distance between the tractor and the trailer; the trailer GPS sensor 10 is arranged on the trailer and used for positioning the position information of the trailer; a trailer gravity sensor 11 is mounted in the trailer for measuring the weight of the fruit loaded in the trailer; the level gauge sensor 18 is arranged on the mechanical arm and used for measuring an included angle 0 formed between the mechanical arm and the horizontal plane; the trailer infrared sensor 12 is installed at the bottom of the trailer and used for collecting radiation information of a trailer driving path, and the trailer path recognition camera 13 is installed at the top of the trailer and used for collecting image information of the trailer driving path; the UWB sensor is arranged between the trailer and the back plate of the tractor and is used for positioning the trailer and the tractor; UWB sensor includes backplate UWB sensor 17 and trailer UWB sensor 16, and backplate UWB sensor 17 is installed in the middle of the backplate bottom, and trailer UWB sensor 16 is installed in trailer front end middle part, and the mutual action of backplate UWB sensor 17 and trailer UWB sensor 16 realizes trailer and tractor accurate positioning. An electromagnet 7 is arranged in the middle of the lower end of the back plate of the tractor, and another electromagnet 7 is arranged in the middle of the lower end of the head of the trailer.
A flat plate is arranged in any trailer box body, and the surface of the flat plate is wrapped with soft rubber; the flat plate is arranged at the bottom of the box body through four springs; the modulus of elasticity of the springs at the rear of the platform is less than the modulus of elasticity of the springs at the front, and the length of the rear springs is less than the length of the front springs, and the trailer gravity sensor 11 is mounted at the bottom of the platform.
The picking mechanical arm comprises a mechanical arm and an electric picking device, the electric picking device is mounted at the tail end of the mechanical arm, a circular sleeve is mounted outside the electric picking device and connected with the net bag 14, and the tail of the net bag 14 penetrates through a back plate of a tractor to be communicated with the interior of the trailer. String bag 14 is made by soft rope, can increase the rolling frictional force of fruit, and the falling speed that slows down effectively protects fruit, and the trompil is connected in the middle of the afterbody of string bag and the upper portion of tractor backplate, and fruit slowly falls into the trailer.
As shown in fig. 3, the intelligent decision module obtains information of the environment sensing module and the information module; the intelligent decision module acquires information of the tractor infrared sensor 3 and the tractor path recognition camera 1 and is used for recognizing whether an obstacle exists on a tractor running path or not; the intelligent decision-making module acquires information of the trailer infrared sensor 12 and the trailer path recognition camera 13 for recognizing whether an obstacle exists on the driving path. The intelligent decision module calculates the space coordinates of the fruits to be picked according to the fruit tree result position images acquired by the tractor depth recognition camera 15; the intelligent decision module controls the tractor, the lifting platform and the picking mechanical arm to be linked according to the space coordinate of the fruit to be picked, the speed of the tractor, the included angle between the mechanical arm and the horizontal plane of 0, the distance between the tractor and the fruit tree and the position information of the tractor; the intelligent decision-making module controls the movement of the trailer according to the positioning information of the trailer and the tractor, the speed of the trailer, the weight of the fruit loaded in the trailer and the position information of the trailer.
As shown in fig. 4, the linkage control method of the transportation control system of the orchard picking tractor according to the present invention includes the following steps:
the intelligent decision module calculates the space coordinates of the fruits to be picked according to the fruit tree result position images acquired by the tractor depth recognition camera 15;
the intelligent decision module calculates the distance L between the fruits to be picked and the mechanical arm base, compares the distance L between the fruits to be picked and the mechanical arm base with the arm length S of the mechanical arm,
if L is smaller than S, the intelligent decision module directly generates a moving path of the mechanical arm and controls the action of the mechanical arm;
if L is larger than S, the mechanical arm can not pick fruits, at the moment, the intelligent decision module obtains an included angle 0 formed by the mechanical arm and the horizontal plane, the intelligent decision module compares L & cos0 with the arm length S of the mechanical arm, if L & cos0 is smaller than S, the lifting platform can be lifted to enable the mechanical arm to pick fruits, and the intelligent decision module controls the lifting platform to lift and ascend
Then, generating a moving path of the mechanical arm and controlling the action of the mechanical arm; if L × cos0 is greater than S, that is, the robot arm is lifted to the same plane as the fruit and cannot pick the fruit, the intelligent decision module controls the tractor to travel the distance D (L-S) cos θ in the direction of picking the fruit, so that L × cos0 is less than S.
Due to the fact that the control precision of the tractor is limited, the intelligent decision module performs primary PID control on the driving distance of the tractor, the PID input is a difference D1 between the D and the actual measured distance of the tractor ultrasonic radar (4), and the PID output is the actual distance until L & gtcos 0 is smaller than S.
As shown in fig. 2, there are 3 trailers which are a first trailer, a second trailer and a third trailer respectively, and the trailer group control method comprises the following steps:
1) the intelligent decision-making module respectively controls the first trailer and the second trailer to move to the positions near the fruit trees along the path of the tractor, and the third trailer is positioned in the warehouse to stand by;
2) after the tractor reaches the position below a fruit tree and is ready for picking, the UWB sensors in the front of the first trailer and the middle of the back plate of the tractor are accurately positioned to enable electromagnets of the first trailer and the tractor to be close to each other, the first trailer is firstly electrically connected with the electromagnets of the back plate of the tractor, and the intelligent decision module controls the picking mechanical arm to convey picked fruits to the first trailer; the second trailer waits outside the path planned to be traveled by the first trailer;
3) the fruit that the arm was picked rolls from the sleeve through the string bag and falls to first trailer in, the weight sensor of first trailer can the weight of real-time supervision fruit, when the weight of fruit reaches the loading capacity that the trailer is predetermine, the arm stops to pick, the electro-magnet outage of tractor backplate and trailer front end simultaneously, their disconnection, first trailer begins the automation and goes to the warehouse, first trailer leaves behind certain safe region, the second trailer goes behind the tractor backplate, carry out above-mentioned connection, the arm begins to pick. After the first trailer reaches the designated area of the warehouse, opening a gate, pouring out fruits, continuously driving to the position near the intelligent tractor, and repeating the steps;
4) when the picking tractor is farther away from the warehouse, after a trailer connected with a back plate of the tractor is full, the previous transport trailer may not return to the vicinity of the picking tractor, the picking tractor can move forward all the time, the round-trip time of the trailer is longer than that of the previous time each time, if the first trailer returns to the vicinity of the tractor and the second trailer is full, the intelligent decision module controls and moves a third trailer waiting in the warehouse to automatically move to the vicinity of the tractor, and the situation that the transport trailer does not reach the vicinity of the intelligent picking tractor when the next vehicle is changed is prevented, and the third trailer is close to the back plate of the tractor and is connected with the tractor;
5) if the intelligent picking tractor drives too far, after the connected trailer is full, no trailer near the tractor can be replaced, for the convenience of management, the trailer is not additionally arranged, but the picking action of the picking mechanical arm is selected to be stopped until the intelligent tractor detects that a free trailer exists near the tractor and completes the replacement;
6) the speed and the position of the trailer are obtained by a speed sensor and a position sensor of the trailer, the speed of the trailer is changed into 0, and the possibility that the trailer has a fault is that an alarm 1 instruction is sent to a control center at the moment, and an alarm 1 is sounded by a warning device; the speed of the trailer is not 0, the position of the trailer is not changed, the path planning of the trailer is possibly wrong, the trailer is blocked, and at the moment, an alarm 2 instruction is sent to the control center, and the alarm 2 is sounded by the alarm device.
It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (8)
1. A transportation control system of an orchard picking tractor is characterized by comprising a tractor, a tractor group, an environment sensing module, an information module and an intelligent decision module; the tractor is connected with a trailer group through a tractor back plate, and the trailer group at least comprises 1 trailer;
the environment perception module comprises a tractor ultrasonic radar (4) and a tractor depth recognition camera (15); the tractor ultrasonic radar (4) is used for detecting the distance between the tractor and the fruit tree; the tractor depth recognition camera (15) is used for acquiring a fruit tree result position image;
the information module comprises a tractor speed sensor (5), a tractor GPS sensor (6), a trailer speed sensor (8), a trailer ultrasonic radar (9), a trailer GPS sensor (10), a trailer gravity sensor (11), a UWB sensor and a level meter sensor (18); the tractor speed sensor (5) is used for measuring the speed of the tractor; the tractor GPS sensor (6) is used for positioning the position information of the tractor; the trailer speed sensor (8) is used for measuring the speed of the trailer; the trailer ultrasonic radar (9) is used for detecting the distance between the tractor and the trailer; the UWB sensor is arranged between the trailer and the back plate of the tractor and is used for positioning the trailer and the tractor; the trailer GPS sensor (10) is used for positioning the position information of the trailer; the trailer gravity sensor (11) is used for measuring the weight of the fruit loaded in the trailer; the level gauge sensor (18) is used for measuring an included angle 0 formed by the mechanical arm and the horizontal plane;
the intelligent decision-making module acquires information of the environment perception module and the information module; the intelligent decision module calculates the space coordinates of the fruits to be picked according to the fruit tree result position images acquired by the tractor depth recognition camera (15); the intelligent decision module controls the tractor, the lifting platform and the picking mechanical arm to be linked according to the space coordinate of the fruit to be picked, the speed of the tractor, the included angle between the mechanical arm and the horizontal plane of 0, the distance between the tractor and the fruit tree and the position information of the tractor; the intelligent decision-making module controls the movement of the trailer according to the positioning information of the trailer and the tractor, the speed of the trailer, the weight of the fruit loaded in the trailer and the position information of the trailer.
2. The transportation control system for orchard picking tractors according to claim 1, wherein the environment sensing module further comprises a tractor infrared sensor (3) and a tractor path recognition camera (1), the tractor infrared sensor (3) is used for collecting radiation information of a tractor driving path, the tractor path recognition camera (1) is used for collecting tractor driving path image information, and the intelligent decision module acquires information of the tractor infrared sensor (3) and the tractor path recognition camera (1) for identifying whether an obstacle exists on the tractor driving path; the information module further comprises a trailer infrared sensor (12) and a trailer path recognition camera (13), the trailer infrared sensor (12) is used for collecting radiation information of a trailer driving path, the trailer path recognition camera (13) is used for collecting image information of the trailer driving path, and the intelligent decision module acquires information of the trailer infrared sensor (12) and the trailer path recognition camera (13) and is used for recognizing whether an obstacle exists on the trailer driving path.
3. The transportation control system of an orchard picking tractor according to claim 1, wherein a flat plate is arranged in any trailer box body, and the surface of the flat plate is wrapped with soft rubber; the flat plate is arranged at the bottom of the box body through four springs; the modulus of elasticity of the spring at the rear of the flat plate is smaller than that of the spring at the front, the length of the spring at the rear is smaller than that of the spring at the front, and a trailer gravity sensor (11) is arranged at the bottom of the flat plate.
4. The transportation control system of an orchard picking tractor according to claim 1, wherein the picking mechanical arm comprises a mechanical arm and an electric picking device, the electric picking device is mounted at the tail end of the mechanical arm, a circular sleeve is mounted outside the electric picking device and connected with a net bag, and the tail of the net bag penetrates through a back plate of the tractor to be communicated with the interior of the trailer.
5. The orchard harvesting tractor transport control system according to claim 4, wherein the net bag is made of soft rope.
6. A coordinated control method of a transport control system of an orchard picking tractor according to claim 1, characterised by comprising the steps of:
the intelligent decision module calculates the space coordinates of the fruits to be picked according to the fruit tree result position images acquired by the tractor depth recognition camera (15);
the intelligent decision module calculates the distance L between the fruits to be picked and the mechanical arm base, compares the distance L between the fruits to be picked and the mechanical arm base with the arm length S of the mechanical arm,
if L is smaller than S, the intelligent decision module directly generates a moving path of the mechanical arm and controls the action of the mechanical arm;
if L is larger than S, the intelligent decision module obtains an included angle 0 formed by the mechanical arm and the horizontal plane, the intelligent decision module compares L & cos0 with the arm length S of the mechanical arm, and if L & cos0 is smaller than S, the intelligent decision module controls the lifting platform to lift and ascend
Then, generating a moving path of the mechanical arm and controlling the action of the mechanical arm; if L is 0 is larger than S, the intelligent decision module controls the tractor to travel a distance D (L-S) cos theta in the direction of picking the fruits, and L is 0 smaller than S.
7. The coordinated control method of the transportation control system of the orchard picking tractor according to claim 6, wherein the intelligent decision module performs one-level PID control on the driving distance of the tractor, the PID input is a difference D1 between D and the actual measured distance of the tractor ultrasonic radar (4), and the PID output is the actual distance until L & cos0 is smaller than S.
8. The coordinated control method of the transportation control system of the orchard picking tractor according to claim 6, further comprising a trailer group control method comprising the steps of:
the intelligent decision-making module respectively controls the first trailer and the second trailer to move to the positions near the fruit trees along the path of the tractor, and the third trailer is positioned in the warehouse to stand by;
the intelligent decision module enables the front part of the first trailer and the back plate of the tractor to be accurately positioned according to the UWB sensor, and the intelligent decision module controls the picking mechanical arm to convey picked fruits to the first trailer; the second trailer waits outside the path planned to be traveled by the first trailer;
when the weight in the first trailer exceeds a set value, the intelligent decision-making module controls the front part of the trailer to be disconnected with a back plate of the tractor, and the intelligent decision-making module controls the first trailer to automatically run to a warehouse; the intelligent decision module controls the second trailer to run to the back plate of the tractor and then is connected with the second trailer;
the intelligent decision module controls the third trailer, which is on standby in the warehouse, to be automatically driven into proximity with the tractor if the second trailer is already full before the first trailer is returned into proximity with the tractor.
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