Transplantation control system and transplantation control method for robot for column cultivation

Abstract

The invention discloses a transplantation control system and a transplantation control method for a robot for column cultivation. The transplantation control system for the robot for column cultivation comprises a control interface, a bottom-layer program and a track library. The track library contains seedling cultivating travel tracks from optional plug seedling fetching positions to optional seedling cultivating positions on cultivation columns, return travel tracks from the optional seedling cultivating positions on the cultivation columns to the optional plug seedling fetching positions and corresponding movement laws of various joints and an end actuator of a manipulator. During continuous transplantation operation, a serial number of an initial seedling fetching position and a serial number of an initial seedling cultivating position are inputted from the control interface, the bottom-layer program automatically and continuously invokes the corresponding seedling cultivating travel track, the corresponding return travel track and the corresponding movement laws of the various joints and the end actuator of the manipulator from the track library according to a preset seedling fetching and cultivating sequence, and plug seedlings are continuously transplanted on the cultivation columns. The transplantation control system and the transplantation control method have the advantages that calculation in a control procedure is greatly simplified, the flexibility, the instantaneity and the reliability of the control system are improved, and the plug seedlings can be automatically, quickly and reliably transplanted on the cultivation columns.

Description

technical field [0001] The invention relates to the field of agricultural robots, in particular to a robot transplanting control technology. Background technique [0002] Greenhouse cultivation columns can be as high as 4 to 5 meters, and the manual transplanting of plug seedlings is extremely difficult. The existing automatic transplanting equipment for plug seedlings is faced with transplanting plug seedlings or pot seedlings to fields and flower pots. Or the transplanting task of changing a large hole tray to a small hole tray, and transplanting the seedlings from the hole tray to the column, the height of each seedling position on the column is constantly changing, and the existing automatic transplanting equipment cannot meet the requirements of the tall column transplanting operation. Liu Jizhan has proposed the supporting transplanting robot of column cultivation (Liu Jizhan, Li Jiali, Li Pingping. Chinese invention patent: the supporting transplanting robot of co...

AI Technical Summary

Problems solved by technology

[0004] (2) The plane operation path of transplanting seedlings is simple, but when the seedlings are transplanted to the column, due to the change of the plane position of the seedlings from the tray and the height of the seedlings planted on the column, the manipulator needs to realize multiple changing spatial paths , the path planning problem under the conditions of avoiding collision interference and time optimization is more complicated, and the algorithm for real-time planning of the control system is complicated and takes a long time to run

[0005] The existing transplanting robot control system and control method cannot provide technical reference and solutions for special problems such as multi-agent coordinated operations and spatial path planning under height changes in multi-cultivation column robot automatic transplanting operations in greenhouses.

The invention patents "Transplanting Robot Supporting Column Cultivation" and "Automated Leaf Vegetable Column Production System" proposed the hardware structure of robot transplanting for column cultivation, but did not establish a control method for robot transplanting for column cultivation. There is no robot transplanting control system and control method for column cultivation in the literature

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