Control system and method of intelligent citrus picking machine

Abstract

A control system and method of an intelligent citrus picking machine. The control system comprises a mobile platform control module, a mechanical arm control module, a tail end actuator control module, a citrus image collecting module, a microprocessor module for controlling and coordinating the work of all the modules, and a central processing unit connected with the microprocessor module througha communication module. The image collecting module is connected with the central processing unit. The central processing unit processes citrus images and calculates position information of citrusesin the citrus image. The microprocessor module obtains a mechanical arm inverse kinematics solution through a deep learning algorithm according to the position information of the citrus and inverselyspeculates the actual movement trajectory of a mechanical arm. The mechanical arm control module controls the mechanical arm to move according to the actual movement trajectory and drives a tail end actuator to pick the citruses. The central processing unit is connected with a man-machine interaction interface. By means of the system and method, the damage rate of the picking machine to the citruses can be effectively reduced, and the picking efficiency of the picking machine is improved.

Description

technical field [0001] The invention relates to the field of fruit picking of fruit trees, in particular to a control system of an intelligent citrus picking machine and a control method thereof. Background technique [0002] Citrus is one of the most important economic crops in the world. It is planted on a large scale all over the world. It is the largest category of fruit in the world and the third largest traded agricultural product in the world. my country is one of the important origins of citrus, with rich citrus resources, various varieties and amazing output. In addition to food, citrus is also in great demand for medicinal purposes and has great commercial value. [0003] Traditional citrus picking is done manually. Although manual picking can effectively reduce the damage of the fruit and ensure the uniformity of the fruit, the labor demand for manual picking is large and the picking efficiency is low, especially with the gradual urbanization of China. With the ...

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Problems solved by technology

[0005] The object of the present invention is to provide a control system and a control method for an intelligent citrus picking machine in view of the above existing problems, which can solve the problems that the existing citrus picking machines are easy to cause damage to citrus and the picking efficiency is low

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