Control system and control method of picking manipulator

A control system and manipulator technology, applied in the direction of picking machines, manipulators, program-controlled manipulators, etc., can solve problems such as inconvenient debugging of manipulator grasping posture, unstable start and stop characteristics of motors, and affecting the economic value of fruits and vegetables, so as to improve the quality of picking and efficiency, shortened debugging time, and low cost
CN108340374AActive Publication Date: 2018-07-31NORTHWEST A & F UNIV
14 Cites 7 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
NORTHWEST A & F UNIV
Publication Date
2018-07-31

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention relates to a control system and a control method of a picking manipulator. The control system is characterized by comprising an upper computer, a lower computer, a finger joint motor control module and a visual identifying system; a transmission module is arranged between the upper computer and the lower computer; the lower computer is respectively connected with the finger joint motor control module and the visual identifying system; the upper computer virtually debugs various optimal grabbing gestures of the manipulator according to shapes and sizes of different types of fruitand vegetables, and transmits to the lower computer through the transmission module; the lower computer receives and stores the various optimal grabbing gesture information of the manipulator virtually debugged by the upper computer, and transfers the correspondingly debugged grabbing gesture information to the finger joint motor control module for instruction sending according to the informationconveyed by the visual identifying system; and the finger joint motor control module receives and executes instructions of the lower computer. The control system is flexible in use, shortens the debugging time, and effectively improves the picking efficiency.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a control system for a picking manipulator. Background technique

[0002] The labor force used in fruit and vegetable picking operations accounts for 33% to 50% of the labor force used in the entire production process. Using manual picking is inefficient and labor intensive. Therefore, fruit and vegetable picking robots occupy an important position in agricultural automation technology. With the development of precision in agricultural production, the development of picking manipulators has become a hot topic. However, the picking quality of picking robots seriously affects the economic value of fruits and vegetables. However, the existing picking manipulator control system is difficult to accurately and quickly make corresponding adjustments to the grasping action of the manipulator according to the specific size, shape, and type of the fruit, and the...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More