Device and control method for walking balance of tea garden harvesting robot

Abstract

The invention relates to an anti-scour rail device for a tea garden harvesting robot, which is characterized by comprising a control box, a limit switch, a rail baffle plate, a walking mechanism, a battery box, a photoelectric rotary encoder, a rail and a frame; wherein the control box and the battery box are arranged on the frame, the motors of the control box, the photoelectric rotary encoder and the traveling mechanism are respectively connected with the battery box, the photoelectric rotary encoder is arranged on a driving wheel of the traveling mechanism and connected with a PLC module arranged in the control box, the rail baffle is arranged at the tail end of the rail, and the limit switch is arranged at the front end of the frame facing the rail baffle plate. By means of the device,the forward distance of the robot can be located through the rotary encoder, and the operation progress of the robot in real time can be checked; the devise adopts two ways including the rotary encoder and the limit switch to prevent the robot from flushing out of the rail, with safe and reliable effects; and the device also has the advantage that the normal operation of the robot is not influenced, and is beneficial to popularization and use.

Description

technical field [0001] The invention relates to the field of robot balance control, in particular to a walking balance device and control method for a tea garden harvesting robot, which is suitable for the balance control of a tea garden monorail robot walking. Background technique [0002] Tea picking is to pick tea leaves from the new shoots of tea trees. There are generally three kinds of tea picking methods. The first is manual picking. Tea picking workers use their fingers to pick tea leaves of different quality and break them off and put them in tea picking baskets. , although it can ensure the integrity of tea picking, but the work efficiency is low and the labor intensity is high; the second is cutting and picking, which is picked by using tools such as small iron scrapers, sickles or picking clips. Although the work efficiency has been improved to a certain extent, However, due to reasons such as slow tool blades or slow picking and cutting speeds of tea picking wor...

AI Technical Summary

Problems solved by technology

[0002] Tea picking is to pick tea leaves from the new shoots of tea trees. There are generally three kinds of tea picking methods. The first is manual picking. Tea picking workers use their fingers to pick tea leaves of different quality and break them off and put them in tea picking baskets. , although it can ensure the integrity of tea picking, but the work efficiency is low and the labor intensity is high; the second is cutting and picking, which is picked by using tools such as small iron scrapers, sickles or picking clips. Although the work efficiency has been improved to a certain extent, However, due to reasons such as slow tool blades or slow picking and cutting speeds of tea picking workers, it is easy to split the branches and affect the germination of new shoots in the next round; the third is to use tea garden harvesting robots to pick. Robots are generally picked by the equipped manipulator

[0003] In order to facilitate tea picking and save land resources, most of the existing tea garden harvesting robots use monorails to install between tea trees in tea gardens. Although monorails can save land resources, they have strict requirements on the stability of tea garden harvesting robots: The height difference of new shoots is small, so the tea garden harvesting robot needs to ensure that it is stable on the level when harvesting, otherwise it will affect the tea harvesting, especially the far end of the tea garden harvesting robot's harvesting knife has a greater impact, and one end is lower than the traveling level However, it will cause damage to the branches of the tea tree, and the other end is higher than the traveling level, so the picking of tea leaves is missed; at the same time, when the tea garden harvesting robot enters the curve on the monorail, it will have a large inclination due to the centrifugal force, which will affect the tea garden harvesting. The picking of the robot is even prone to overturning when the speed is high. If the new speed is reduced to avoid it when turning, it will affect the picking efficiency and easily cause fatigue damage to the driving and braking devices. If the outer side is higher than the inner side in the corner If the inclined rail is used, the tea garden harvesting robot will tilt when turning outside, which will damage the tea tree and miss picking tea leaves, and the difficulty of making and installing the rail will also increase, which is not suitable for large-scale use

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