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A control system and control method of an intelligent citrus picking machine

A control system and control method technology, applied in the direction of picking machines, program-controlled manipulators, manipulators, etc., can solve the problems of citrus damage and low picking efficiency, and achieve the effects of reducing damage rate, increasing picking efficiency, and realizing automatic intelligence

Active Publication Date: 2022-02-15
SICHUAN AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

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  • A control system and control method of an intelligent citrus picking machine
  • A control system and control method of an intelligent citrus picking machine
  • A control system and control method of an intelligent citrus picking machine

Examples

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Embodiment 1

[0062] A control system for an intelligent citrus picking machine, such as figure 1 As shown, it includes a mobile platform control module for controlling the movement of the mobile platform 5, a mechanical arm control module for controlling the movement of each joint of the mechanical arm 2 on the mobile platform 5, and an end effector for controlling the front end of the mechanical arm 2. 1 The end effector control module for picking citrus, the image acquisition module for collecting citrus images 3, the microprocessor module for controlling and coordinating the work of each module and the central processing unit connected with the microprocessor module through the communication module; the microprocessor The controller module and the central processing unit can be connected through a cable, or can be connected through a 4G network and a WIFI module, and are not limited to the WIFI connection communication method described in detail later in this embodiment. Described image...

Embodiment 2

[0086] A control method adopting the control system of the intelligent citrus picking machine described in embodiment 1 is characterized in that: comprising the following steps:

[0087] S1: Control the picking machine to a picking point through the wireless remote control handle / man-machine interface / central processor that can automatically plan the driving path of the picking machine, and make judgments through human judgment or real-time monitoring through distance measuring sensors, so that the robotic arm 2 Access to citrus picking range;

[0088] There are two ways to move the picking machine to the designated location in the orchard. 1. Through the wireless mobile remote control handle or human-computer interaction interface, people follow the citrus picking machine and manually control the mobile platform 5, so that the citrus picking machine reaches the designated position in the orchard; 2. On the premise of an electronic map of the orchard, the central processing un...

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Abstract

A control system and control method of an intelligent citrus picking machine, comprising a mobile platform control module, a robotic arm control module, an end effector control module, a citrus image acquisition module, a microprocessor module for controlling and coordinating the work of each module, and a The communication module is connected with the central processing unit of the microprocessor module; the image acquisition module is connected with the central processing unit, and the central processing unit processes the citrus image and calculates the position information of the citrus in the citrus image; according to the citrus position information, the microprocessor The module uses the deep learning algorithm to obtain the inverse kinematics solution of the manipulator, and inversely deduces the actual motion trajectory of the manipulator; the manipulator control module controls the motion of the manipulator according to the actual motion trajectory, and drives the end effector to pick citrus; the central processor is connected to a human computer interface. The invention can effectively reduce the damage rate of the picking machine to the citrus and increase the picking efficiency of the picking machine.

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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A01D46/30B25J9/16B25J11/00
Inventor 许丽佳朱思洁吴春梅刘钰崧陈昕远罗鹏
Owner SICHUAN AGRI UNIV
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