A Collision-free Automatic Transplanting Seedling Sequence and Path Determination Method for Column Cultivation

A path determination and collision-free technology, applied in the field of agricultural robots, can solve the problems of high efficiency without collision, short cumulative path of transplanting operations, etc., and achieve the effect of improving the efficiency of transplanting operations

Inactive Publication Date: 2016-01-20
JIANGSU UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of high-efficiency operation of the automatic transplanting of plug seedlings to columns without collision, the purpose of the present invention is to provide a method for determining the order and path of automatic transplanting of seedlings without collision in column cultivation, so as to achieve the accumulation of transplanting operations without collision. shortest path

Method used

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  • A Collision-free Automatic Transplanting Seedling Sequence and Path Determination Method for Column Cultivation
  • A Collision-free Automatic Transplanting Seedling Sequence and Path Determination Method for Column Cultivation
  • A Collision-free Automatic Transplanting Seedling Sequence and Path Determination Method for Column Cultivation

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Experimental program
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Embodiment 1

[0020] Such as figure 1 As shown, the column transplanting robot includes a mobile platform 1 , a manipulator 4 and an end effector 3 , the manipulator 4 is installed on the mobile platform 1 , and the end effector 3 is installed on the wrist of the manipulator 4 . Several cultivation columns 5 are evenly arranged on one side of the column transplanting robot. When the seedlings 6 in the tray 2 are automatically transplanted to the cultivation column 5, the mobile platform 1 moves and is positioned at the position of the column to be planted, and the movement of the manipulator 4 completes the planting position of the end effector 3 to the hole of the tray 2 and the cultivation column 5 Positioning, the end effector 3 and the seedling 6 transfer between the hole and the planting position, and the end effector 3 completes the tasks of taking seedlings and planting.

[0021] Such as figure 2 As shown, the numbers of the seedling bottom point and the seedling apex are respecti...

Embodiment 2

[0029] The size of the tray 2 is 8 rows x 16 columns, the distance between adjacent holes is 33.5mm, and the minimum lifting path of the seedling position is a 0 is 30mm, the lifting path b of the seedling planting position is 30mm, the safe lifting height h determined according to the height of the seedling 6 is 180mm, and the safe distance s is taken as 88mm. The height of the spiral cultivation column 5 is 1m, the screw pitch is 300mm, and the top of the seedling is D k The distance 100mm from the central axis, the seedling distance 150mm planted along the helix, and the number of seedlings 6 that can be planted by every cultivation column 5 is 16. The path lengths of the transplanting trip and the return trip of each transplanting cycle are calculated separately, and then accumulated to obtain the cumulative path length under different seedling-planting sequences.

[0030] (1) The lower right end of the hole plate 2 starts to take the seedlings row by row in the same dire...

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Abstract

The invention discloses efficient collision-free automatic transplanted seedling sequence and path for post cultivation, and relates to the field of agricultural equipment. In transplanting operation, a shortest lifting path is taken or safety lifting height is increased no matter whether a delivery path passes through other rice seedlings or not, so as to avoid collision. A straight line between two points is taken as the delivery path when a seedling transplanting vertex is higher than a seedling taking vertex, and a middle point is added to the edge of a pot from a safety distance and a broken line path is used as the delivery path when the seedling transplanting vertex is lower than the seedling taking vertex. If seedlings are taken line by line or row by row from the rectangular pot towards the lower right end of a cultivation post in a same direction, the shortest accumulated path of the transplanting operation can be reached when transplanting is carried out sequentially along the cultivation post from bottom to up. Collision-free efficient post automatic transplanting is realized on the basis of differentiation between conceding and non-conceding seedling positions in lifting path, straight line and broken line delivery paths as well as on the basis of optimization of seedling taking and transplanting sequences, thus effectively improving efficiency of the transplanting operation. The invention is applicable to efficient automatic transplanting operation of post cultivation.

Description

technical field [0001] The invention relates to the field of agricultural robots, in particular to a collision-free automatic transplanting seedling sequence and path determination method for column cultivation. Background technique [0002] Column cultivation has been continuously researched and promoted because it can make full use of the vertical space to greatly increase the output per unit land area. However, the manual cultivation management of vertical tall columns is extremely difficult, and has become a key bottleneck problem that seriously affects its further popularization, and operation automation technologies such as transplanting of column cultivation have become an inevitable choice for its future development. Liu Jizhan and others proposed the automatic production mode of column transplanting, and carried out the development of the supporting transplanting robot system for column cultivation (patent for invention: automatic leaf vegetable spiral column produc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A01C11/02
Inventor 刘继展刘炜李萍萍
Owner JIANGSU UNIV
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