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Picking robot controller based on finite state automata architecture and architectural approach

A picking robot and finite state technology, applied in picking machines, program-controlled manipulators, agricultural machinery and implements, etc., can solve the problems of poor versatility and low scalability of the control system

Active Publication Date: 2018-10-16
北京禾泽方圆智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The existing picking robot control system includes PC control, and robot control based on neural network, but the robot control in the prior art has the following defects: the existing control system has poor versatility, low scalability, and cannot be fast and accurate picking target

Method used

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  • Picking robot controller based on finite state automata architecture and architectural approach
  • Picking robot controller based on finite state automata architecture and architectural approach
  • Picking robot controller based on finite state automata architecture and architectural approach

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0079] Embodiment 1 of the present invention provides a picking robot controller based on a finite state automaton architecture, such as figure 1 As shown, the controller includes:

[0080] Initialization module 1: used to initialize the system and judge whether the initialization is completed, and the initialization includes two states, namely initial state initialization S1 and secondary state initialization S1';

[0081] Scanning mode module 2: used to scan the picking target after the system initialization is completed, and judge whether there is a target, and the scanning mode includes two states, namely the initial state scanning mode S2 and the secondary state scanning mode S2';

[0082] Alignment mode module 3: used to control the picking point close to the picking target based on the existence of the target, and judge whether the target is touched, and the alignment mode includes two states, namely the initial state alignment mode S3 and the secondary state alignment ...

Embodiment 2

[0087] The picking robot controller based on the finite state automata architecture provided by Embodiment 2 of the present invention is basically the same as Embodiment 1, the difference is that the initialization module 1, the scanning mode module 2, the alignment mode module 3, the The capture mode module 4 and the return mode module 5 switch modes according to the state transition formula:

[0088] The state transition formula is:

[0089]

[0090]

[0091] Among them, E represents the condition, and A represents the action.

[0092] state transition table

[0093]

[0094]

[0095] In the present invention, the state transition formula clearly shows the switching between modes based on the current mode and conditions and actions. Through the switching between modes, the purpose of picking targets quickly and accurately can be achieved, and the state transition formula can cooperate with the state transition. Tables are used, which can more clearly show how t...

Embodiment 3

[0097] The picking robot controller based on the finite state automata architecture provided by Embodiment 3 of the present invention is basically the same as Embodiment 1, the difference is that, as figure 2 As shown, the initialization module 1 includes a total initialization module 10 and a change mode module 20, and the total initialization module 10 includes:

[0098] Communication initialization module 101: used to communicate with the upper computer, and initialize the communication module of the upper computer, and judge whether the system initialization is completed;

[0099] Return module 102: for returning to the communication initialization module 101 when the system initialization is not completed;

[0100] The management module 103 is used to initialize the global variables when the system initialization is completed, and send an instruction to the change mode module 20 after the initialization of the global variables is completed.

[0101] Such as image 3 As...

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Abstract

The invention belongs to the technical field of robot control, in particular to a picking robot controller based on a finite state automata architecture and an architectural approach. According to thenew picking robot controller based on the finite state automata architecture and the architectural approach provided by the invention, quick picking of targets can be realized according to the picking robot controller and the architectural approach based on the finite state automata architecture; while the controller is operated, a system is firstly initiated, then the targets are scanned, aligned and grabbed, and all shafts are controlled to return to recording points after grabbing is finished; and due to configuration, according to a current mode and corresponding conditions and actions, switching among scanning, alignment, grabbing and return modes is carried out; and through the switching of the modes, the targets are picked quickly and accurately, so that the generality is strong, and the expansibility is high.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a picking robot controller and an architecture method based on a finite state automaton architecture. 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. Picking robot is composed of manipulator, end effector, moving mechanism, vision system and control system, among which the control system solves the goal of picking robot Positioning and target picking are the core and key of the entire robot system. Japan is at the forefront of the world in agricultural robot research, and has successfully developed watermelon picking robots, orange picking robots, and grafting robots. The United States has developed a solar-powered weeding robot. In addition, my country has also made some progress in the research of agricu...

Claims

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Application Information

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IPC IPC(8): B25J9/16A01D46/30
CPCA01D46/30B25J9/1602B25J9/1669
Inventor 毕松张潞
Owner 北京禾泽方圆智能科技有限公司
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