Controller for fruit picking robot

A picking robot and controller technology, applied in picking machines, computer control, program control, etc., can solve the problems of low scalability, poor versatility, and inportability, and achieve good portability, low power consumption, and convenient control. effect of ability

Inactive Publication Date: 2010-03-31
北京环宇信科技术发展有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, at present, almost all the control systems of agricultural robots are realized by PC, which has high cost. The traditional PC control system has poor versatility, low scalability, high power consumption, large size, and is not portable. and other shortcomings

Method used

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  • Controller for fruit picking robot
  • Controller for fruit picking robot
  • Controller for fruit picking robot

Examples

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Embodiment Construction

[0031] The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0032] The controller of the present invention is applicable to various fruits and vegetables picking robots, and the cucumber picking robot is used as an example for illustration below.

[0033] Such as figure 1 As shown, the secondary processing unit 4 selects high-performance 32-bit fixed-point DSPTMS320DM642. DM642 has powerful computing functions. It is built on the second-generation high-performance supernormal instruction word structure and can process 8 instructions in parallel. It is very suitable for digital image processing. In this hardware design, its working frequency is selected as 600MHz. According to the needs of the project, in addition to expanding the necessary memory part and video acquisition and playback part of the hardware system, it mainly expands multi-channel digital I / O and multi-channel asynchronous serial...

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Abstract

The invention discloses a controller for a fruit picking robot, which comprises an image acquisition unit, a secondary processing unit and a primary processing unit, wherein the image acquisition unit is used for acquiring the image information of an area in which fruits are to be picked; the secondary processing unit finds out a suspected fruit area according to the image information, performs marking processing and characteristic extraction processing on the suspected fruit area so as to identify the existence of fruits, calculates position coordinate information of the fruits by utilizing a preset static positioning algorithm, and transmits the position coordinate information to the primary processing unit; and the primary processing unit receives the position coordinate information, converts the position coordinate information into control information of mechanical arms of the fruit picking robot, and transmits the control information to the mechanical arms of the robot to enable the robot to finish picking actions. The controller for the fruit picking robot in the invention is used as an embedded system, has the advantages of low power consumption, high integrity, good portability and the like, and can completely take the place of a conventional PC system to implement the application of an agricultural robot in a non-structural environment.

Description

technical field [0001] The invention relates to a controller for an agricultural harvesting robot, in particular to a controller for a fruit picking robot in a greenhouse environment, and belongs to the field of automation and robots. Background technique [0002] Picking robot is one of the important equipment of precision agriculture in the 21st century, and it is the development direction of future intelligent agricultural machinery. The mobile picking robot is composed of a manipulator, an end effector, a moving mechanism, a machine vision system, and a control system. The structural form and degrees of freedom of the manipulator directly affect the complexity of the intelligent control of the picking robot, the flexibility and precision of the operation. The autonomous navigation and machine vision system of the mobile mechanism solves the autonomous walking and target positioning of the picking robot, which is the core and key of the entire robot system. Japan is at ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/30G05B19/042
Inventor 王库侯茗耀党帅史小磊
Owner 北京环宇信科技术发展有限公司
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