Intelligent cotton bud topping system

Abstract

The invention discloses an intelligent cotton bud topping system. A parameter detection module is provided to provide the system with the real-time steering angle, displacement, driving speed and offset angle of a topping component of a vehicle body. A positioning module (10) provides the system with real-time walking positioning information. An obstacle avoidance detection module provides the walking obstacle avoidance control module with obstacle information during the movement of the vehicle body. Each active optical trinocular sensor module (6) provides the system with real-time position information of cotton plant branches and leaves on a ridge. Under the coordinated action of a computer, a walking obstacle avoidance control module and each mechanical arm control module (7), after cotton bud recognition is completed, the vehicle body automatically moves and turns, and the mechanical arm (8) automatically completes the cotton bud topping operation, thereby improving the topping efficiency. The mechanical arm (8) only performs topping operations on cotton buds, thereby avoiding wrong topping and missing topping, and ensuring cotton harvest.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery and equipment, and in particular to an intelligent cotton bud topping system. Background Art

[0002] Cotton bud topping is to remove the top buds of cotton plants. Topping can eliminate the growth advantage of the top of cotton plants, adjust the transportation direction of water, nutrients and other substances, so that more nutrients are provided for the growth of reproductive organs, reduce the consumption of water and fertilizer by ineffective branches, promote early boll formation, more boll formation, less boll shedding, etc., and have a significant effect of increasing production and income. Cotton bud topping is very time-sensitive. If it is too early or too late, it will seriously affect the harvest. Therefore, it is necessary to strictly control the timing of cotton bud topping to improve the efficiency of cotton bud topping.

[0003] In the prior art, manual topping or semi-automatic mechanical topping can be used. For large and medium-sized cotton fields, manual topping has the problem of low efficiency, and it is easy to miss the opportunity to top, and there are also problems of wrong topping and missed topping, which greatly affects the cotton harvest. Although the efficiency of semi-automatic mechanical topping is greatly improved, the "one-size-fits-all" cutting method will mistakenly cut off the cotton bolls below the top buds, which will also affect the cotton harvest. It is necessary to propose a system that can fully automatically and specifically top cotton buds, which can not only improve the topping efficiency but also ensure the cotton harvest. Summary of the invention

[0004] The invention provides an intelligent cotton bud topping system, which solves the problems in the prior art of low cotton bud topping efficiency and low cotton yield due to wrong topping or missed topping.

[0005] The present invention solves the technical problem through the following technical solutions:

[0006] An intelligent cotton bud topping system includes a vehicle body, a computer, a parameter detection module, a walking obstacle avoidance control module, a positioning module, an obstacle avoidance detection module, and at least one topping component; in each topping component, the topping component includes an active light trinocular sensor module, a robotic arm control module, and a robotic arm;

[0007] The parameter detection module detects the steering angle, displacement, driving speed and offset angle of the vehicle body, and inputs the detection results to each mechanical arm control module; the positioning module provides the walking obstacle avoidance control module with the position positioning information of the vehicle body; the obstacle avoidance detection module provides the walking obstacle avoidance control module with the obstacle information during the movement of the vehicle body; the walking obstacle avoidance control module controls the movement and steering of the vehicle body according to the position positioning information and the obstacle information; each active light trinocular sensor module obtains the image information of the branches and leaves of the external cotton plant, and inputs it to the computer for processing, the computer extracts the bud top position corresponding to the three-dimensional coordinate information of the external cotton bud, and inputs the bud top position to the mechanical arm control module corresponding to the active light trinocular sensor module; the mechanical arm control module controls the corresponding mechanical arm to operate according to the detection results provided by the parameter detection module and the bud top position extracted by the computer, so as to complete the cotton bud topping operation.

[0008] Furthermore, it also includes a traveling drive module and a steering drive module; the vehicle body includes a traveling component and a steering component; the walking obstacle avoidance control module controls the operation of the traveling drive module, and then controls the travel of the vehicle body through the traveling component; the walking obstacle avoidance control module controls the operation of the steering drive module, and then controls the steering of the vehicle body through the steering component.

[0009] Furthermore, the vehicle body also includes at least two rear wheels; the travel component includes a front wheel, a front wheel center axis and a chain; under the drive of the travel drive module, the force is transmitted to the front wheel center axis through the chain, thereby controlling the travel of the front wheel; the steering component controls the steering of the front wheel; the parameter detection module includes 1 steering sensor and at least 3 rolling encoders, and the number of the rolling encoders is the same as the sum of the number of front wheels and rear wheels; a steering sensor is installed on the steering assembly, 1 rolling encoder is installed on the front wheel center axis, and 1 rolling encoder is installed on the center axis of each rear wheel.

[0010] Furthermore, the vehicle body also includes two wings, which are a left wing and a right wing respectively; at least three topping assemblies are installed on the left wing; at least three topping assemblies are also installed on the right wing, and the number of topping assemblies on the left wing and the right wing is the same.

[0011] Furthermore, the parameter detection module includes two gyroscopes; the two gyroscopes are respectively a left wing gyroscope and a right wing gyroscope; the left wing gyroscope is installed on the left wing to detect the up and down offset angles of the left wing; the right wing gyroscope is installed on the right wing to detect the up and down offset angles of the right wing; the detection results of the left wing gyroscope and the right wing gyroscope are input into the robotic arm control module.

[0012] Furthermore, the obstacle avoidance detection module includes at least three laser radars; one laser radar is installed directly in front of the front wheel and directly in front of each rear wheel, and the information detected by each laser radar is input into the walking obstacle avoidance control module.

[0013] Further, in each topping assembly, the robotic arm includes a horizontal guide rail, a first vertical guide rail, a second vertical guide rail, a first horizontal drive motor, a second horizontal drive motor, a first vertical drive motor, a second vertical drive motor and two blade cutting motors; a blade cutting motor is installed at the bottom end of the first vertical guide rail, and a blade cutting motor is installed at the bottom end of the second vertical guide rail; under the control of the robotic arm control module, the first horizontal drive motor drives the first vertical guide rail to translate on the horizontal guide rail; under the control of the robotic arm control module, the second horizontal drive motor drives the second vertical guide rail to translate on the horizontal guide rail; under the control of the robotic arm control module, the first vertical drive motor drives the first vertical guide rail to move up and down; under the control of the robotic arm control module, the second vertical drive motor drives the second vertical guide rail to move up and down; under the control of the robotic arm control module, the blade cutting motor operates to cut the external cotton buds.

[0014] Furthermore, in each topping assembly, the active light trinocular sensor module is installed on the upper front of the corresponding robotic arm; the active light trinocular sensor module includes an RGB camera, a first structured light receiving head, a second structured light receiving head and an infrared light source; the infrared light source emits infrared light of a preset wavelength to the external cotton plant branches and leaves, and the first structured light receiving head and the second structured light receiving head receive the reflected light; the reflected light received by the first structured light receiving head, the reflected light received by the second structured light receiving head and the image information captured by the RGB camera are all input into the computer.

[0015] Furthermore, the vehicle body includes a convertible; with the direction of travel of the vehicle body as a reference, the convertible covers the front, rear and top of each roofing component; a solar panel is provided on the top of the convertible; the solar panel converts solar energy into electrical energy to power the system.

[0016] Furthermore, with the direction of travel of the vehicle body as a reference, electrochromic films are provided at the front and rear of the convertible, and a photosensitive module, a fill light module and a voltage control module are provided for the electrochromic film in the convertible; the photosensitive module senses the light intensity of external sunlight, and inputs the light intensity information into the voltage control module, and the voltage control module sends a voltage to the electrochromic film according to the light intensity information, and changes the transmittance of the electrochromic film through the voltage to change the light intensity in the convertible; when the light intensity in the convertible is weak, the voltage control module starts the fill light module for fill light to enhance the light intensity in the convertible.

[0017] Compared with the existing technology, it has the following characteristics:

[0018] 1. The parameter detection module provides the system with the real-time steering angle, displacement, driving speed and offset angle of the topping component of the vehicle body. The positioning module provides the system with real-time walking positioning information. The obstacle avoidance detection module provides the obstacle information of the vehicle body during the movement of the vehicle body to the walking obstacle avoidance control module. Each active light trinocular sensor module provides the system with real-time image information of the branches and leaves of cotton plants on the ridges. The computer, the walking obstacle avoidance control module and each mechanical arm control module work together. After the cotton buds are identified, the vehicle body automatically moves and turns, and the mechanical arm automatically completes the cotton bud topping operation, which improves the topping efficiency. The mechanical arm only performs topping operations on cotton buds to avoid wrong topping and missed topping, thus ensuring the cotton harvest.

[0019] 2. The parameter detection module detects the steering angle, displacement and driving speed of the front wheels in real time, the displacement and driving speed of each rear wheel in real time, and the offset angle of the wing where the topping assembly is located in real time, providing a data basis for adjusting the travel direction, travel speed and topping position, so as to complete the accurate cotton bud topping operation and avoid wrong topping and missed topping;

[0020] 3. Set up a remote monitoring module to understand the system's operating status during the topping operation and to detect and handle faults in a timely manner;

[0021] 4. The active optical trinocular sensor module combines the sending and receiving of the infrared light source and the RGB camera to obtain the infrared depth image and two-dimensional image information of the cotton plant branches and leaves, respectively, and then obtains the bud top position corresponding to the three-dimensional coordinate information of the cotton bud through data processing. The present invention can obtain the information of the cotton plant branches and leaves on multiple ridges through multiple active optical trinocular sensor modules. One active optical trinocular sensor module corresponds to one mechanical arm control module and one mechanical arm, so that the cotton bud topping operation can be performed on multiple ridges of cotton plants at the same time, which is not only efficient but also accurate;

[0022] 5. The robot arm is equipped with a horizontal rail and two vertical rails. The two vertical rails can move horizontally on the horizontal rails or move up and down in a direction perpendicular to the horizontal rails. The two vertical rails of each robot arm are equipped with a cutting motor with a blade, that is, each robot arm can carry out the cotton bud topping operation of two rows of cotton plants at the same time, with high topping efficiency. When the vertical rails move horizontally or up and down, the cutting motor with a blade moves with the vertical rails in the horizontal and vertical directions to align with the cotton buds and carry out the topping operation in a targeted manner;

[0023] 6. It is equipped with a convertible, and a solar panel is set on the top of the convertible to absorb solar energy to power the system, which can extend the system operation time and save energy and electricity; an electrically controlled color-changing film is set at the front and rear of the convertible, which can ensure that the light brightness in the shooting environment of the RGB camera remains unchanged during the topping operation, provide an independent and stable lighting environment for the topping operation, and provide support for more accurate completion of the topping operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a circuit structure principle block diagram of the present invention.

[0025] Figure 2 It is a mechanical structure diagram of the present invention.

[0026] The numbers in the figure are: 1. front wheel; 2. rear wheel; 3. travel drive module; 4. steering drive module; 5. right wing; 6. active optical trinocular sensor module; 7. robotic arm control module; 8. robotic arm; 9. fuselage; 10. positioning module; 11. left wing; 12. front wheel center axis; 13. chain; 14. laser radar; 15. microwave radar; 16. physical lever.

[0027] Figure 3 This is the structural diagram of the robotic arm.

[0028] The numbers in the figure are: 81, horizontal guide rail; 82, first vertical guide rail; 83, second vertical guide rail; 84, first horizontal drive motor; 85, second horizontal drive motor; 86, first vertical drive motor; 87, second vertical drive motor; 88, blade cutting motor.

[0029] Figure 4 This is the structural diagram of the active optical trinocular sensor module.

[0030] The numbers in the figure are: 61, RGB camera; 62, first structured light receiving head; 63, second structured light receiving head; 64, infrared light source.

[0031] Figure 5 This is a mechanical structure diagram with a convertible top.

[0032] The numbers in the figure are: 17, convertible; 171, solar panel; 172, electrically controlled color-changing film.

[0033] Figure 6 It is a mechanical structure diagram of the present invention after folding.

[0034] 18. Axis joint. DETAILED DESCRIPTION

[0035] The present invention will be further described below with reference to examples, but the present invention is not limited to these examples.

[0036] The intelligent cotton bud topping system includes a vehicle body, a computer, a parameter detection module, a walking obstacle avoidance control module, a positioning module 10, an obstacle avoidance detection module and at least one topping component; in each topping component, the topping component includes an active light three-eye sensor module 6, a mechanical arm control module 7 and a mechanical arm 8; the parameter detection module detects the steering angle, displacement, driving speed and offset angle of the vehicle body, and inputs the detection results to each mechanical arm control module 7; the positioning module 10 provides the walking obstacle avoidance control module with the position positioning information of the vehicle body; the obstacle avoidance detection module provides the walking obstacle avoidance control module with the obstacle information during the movement of the vehicle body ; The walking obstacle avoidance control module controls the movement and steering of the vehicle body according to the position positioning information and obstacle information; each active optical three-eye sensor module 6 obtains the image information of the branches and leaves of the external cotton plant, and inputs it into the computer for processing, the computer extracts the bud top position corresponding to the three-dimensional coordinate information of the external cotton bud, and inputs the bud top position corresponding to the three-dimensional coordinate information of the external cotton bud into the mechanical arm control module 7 corresponding to the active optical three-eye sensor module 6; the mechanical arm control module 7 controls the corresponding mechanical arm 8 to operate according to the detection result provided by the parameter detection module and the bud top position corresponding to the three-dimensional coordinate information of the external cotton bud extracted by the computer, and completes the cotton bud topping operation. The walking obstacle avoidance control module and the power supply of the system are installed in the fuselage 9, and the power supply provides power for each component in the system that needs power. The circuit structure principle block diagram of the present invention is shown as follows. Figure 1 As shown, the mechanical structure diagram of the present invention is as shown Figure 2 shown.

[0037] The positioning module 10 is an RTK receiver based on Beidou + GPS. The positioning module 10 is installed on the vehicle body and moves with the movement of the vehicle body. The RTK receiver based on Beidou + GPS is a high-precision differential positioning system, and the processing technology involved is the existing technology: establish a known differential Beidou + GPS base station with accurate three-dimensional coordinates, use carrier phase difference technology (RTK), send the carrier phase collected by the base station to the positioning module 10 of this system, calculate the difference coordinates, and compare the deviations for compensation. Its positioning accuracy can reach the centimeter level. Using an RTK receiver based on Beidou + GPS in the positioning module 10, the high-precision travel displacement of the vehicle body can be obtained, and then accurate position positioning information can be obtained. Real-time data can be used to circle the operating range, plan the route, and prevent the conflict of routes when multiple systems are operating at the same time.

[0038] The present invention is also provided with a traveling drive module 3 and a steering drive module 4; the vehicle body includes a traveling component and a steering component; the walking obstacle avoidance control module controls the operation of the traveling drive module 3, and then controls the travel of the vehicle body through the traveling component; the walking obstacle avoidance control module controls the operation of the steering drive module 4, and then controls the steering of the vehicle body through the steering component.

[0039] The travel drive module 3 mainly includes a transmission and a travel drive motor. The speed ratio of the transmission is greater than 100. Under the action of the transmission, the travel drive motor runs, driving the travel component forward, and then driving the vehicle body forward. The travel component includes a front wheel 1, a front wheel center shaft 12 and a chain 13; under the drive of the travel drive module 3, the force is transmitted to the front wheel center shaft 12 through the chain 13, thereby controlling the travel of the front wheel 1. The walking obstacle avoidance control module controls the travel of the front wheel 1 through the travel drive module 3 according to the positioning information and the planned travel route.

[0040] The steering drive module 4 mainly includes a steering drive motor. The walking obstacle avoidance control module controls the operation of the steering assembly through the steering drive module 4 according to the detection information of the parameter detection module and the planned travel route, and then controls the steering of the front wheel 1 to achieve obstacle avoidance and ridge change. The steering assembly mainly includes a servo motor and a reducer: the servo motor is provided with a driving current by the steering drive module 4, and when the servo motor is working, it provides power for the steering of the front wheel 1; the reducer is used to reduce the speed of the servo motor and increase the torque of the servo motor, that is, the use of the reducer can increase the load capacity of the servo motor, and the front wheel 1 can easily achieve steering. In the present invention, the walking obstacle avoidance control module sends a pulse signal to the steering drive module 4, and the steering drive module 4 provides a driving current to the servo motor. The servo motor rotates according to the direction and speed provided by the driving current. The generated rotational force is amplified by the reducer to drive the front wheel 1 to rotate, thereby achieving the steering of the vehicle body.

[0041] The vehicle body also includes at least two rear wheels 2; the parameter detection module includes a steering sensor and at least three rolling encoders, the number of which is the same as the sum of the number of front wheels 1 and rear wheels 2; a steering sensor is installed on the steering assembly, a rolling encoder is installed on the front wheel center axis 12, and a rolling encoder is installed on the center axis of each rear wheel 2.

[0042] The steering sensor is installed on the steering assembly and is used to detect the steering angle of the steering assembly. During the cotton bud topping operation, when an obstacle appears in the direction of travel or when the ridge needs to be changed, the walking obstacle avoidance control module sends a drive signal to the steering drive module 4, the steering assembly operates, and the front wheel 1 turns. When the front wheel 1 turns, the steering sensor detects the steering angle of the steering assembly. The steering angle information of the front wheel 1 is transmitted to the walking obstacle avoidance control module after detection by the steering sensor. The walking obstacle avoidance control module compares the theoretical direction rotation angle information of the front wheel 1 and the detected direction rotation angle information, adjusts the pulse signal, realizes direction correction, and makes the steering of the vehicle body more precise through closed-loop control.

[0043] The rolling encoder is installed on the central axis of the front wheel 1 and each rear wheel 2 to detect the travel displacement and travel speed of the front wheel 1 and each rear wheel 2, and the detection result is input into each mechanical arm control module 7. In addition, the difference between each rolling encoder can be used to determine whether the vehicle body has deviated during the travel process.

[0044] Furthermore, the vehicle body also includes two wings, which are a left wing 11 and a right wing 5; at least three topping assemblies are installed on the left wing 11; the right wing 5 is also installed with at least three topping assemblies, and the number of topping assemblies on the left wing 11 and the right wing 5 is the same.

[0045] The parameter detection module includes two gyroscopes; the two gyroscopes are a left wing gyroscope and a right wing gyroscope respectively; the left wing gyroscope is installed on the left wing 11 to detect the up and down offset angle of the left wing 11; the right wing gyroscope is installed on the right wing 5 to detect the up and down offset angle of the right wing 5; the detection results of the left wing gyroscope and the right wing gyroscope are input to each mechanical arm control module 7. The purpose of installing gyroscopes on the two wings is to obtain the offset angle of the wing, and then obtain the corresponding displacement value, which is used to compensate for the error caused by the installation of the mechanical arm 8, so that the mechanical arm 8 can more accurately locate the cotton bud position when performing the cotton bud topping operation.

[0046] The obstacle avoidance detection module includes at least 3 laser radars 14 and at least 2 microwave radars 15. A laser radar 14 is installed in front of the front wheel 1 and in front of each rear wheel 2. Each laser radar 14 is fixed to the bracket of each wheel through a connector. The information detected by each laser radar 14 is input into the walking obstacle avoidance control module. At least one microwave radar 15 is installed on the left wing 11, and each microwave radar 15 is arranged at an equal distance. At least one microwave radar 15 is installed on the right wing 5, and each microwave radar 15 is arranged at an equal distance. The information detected by each microwave radar 15 is input into the walking obstacle avoidance control module. The vehicle body of the present invention is provided with one wheel 1 and two rear wheels 2, so three laser radars 14 are provided. The vehicle body of the present invention is provided with a left wing 11 and a right wing 5. A microwave radar 15 is provided at the center of the left wing 11, and a microwave radar 15 is provided at the center of the right wing 5.

[0047] The laser radar 14 is installed in front of each wheel to detect whether there are obstacles around the corresponding wheel during the travel process. The laser radar 14 emits a detection laser beam to the external target, receives the signal reflected by the external target for comparison, and obtains the distance, direction, height, speed, posture, shape and other parameters of the external target through processing. If a reflected signal is received in the travel route, it can be determined that there is an obstacle.

[0048] The microwave wavelength emitted by the microwave radar is very short and has good directivity, and is suitable for detecting obstacles that are far away and have large targets. In the present invention, the microwave radar 15 is installed on two wings to detect whether there are larger obstacles such as people, electric poles, and irrigation facilities that are higher than the height of the cotton plants.

[0049] Furthermore, in each topping assembly, the robotic arm 8 includes a horizontal guide rail 81, a first vertical guide rail 82, a second vertical guide rail 83, a first horizontal drive motor 84, a second horizontal drive motor 85, a first vertical drive motor 86, a second vertical drive motor 87 and two blade cutting motors 88; a blade cutting motor 88 is installed at the bottom end of the first vertical guide rail 82, and a blade cutting motor 88 is installed at the bottom end of the second vertical guide rail 83; under the control of the robotic arm control module 7, the first horizontal drive motor 84 drives the first vertical drive motor 84 to move the first horizontal drive motor 85, the first vertical drive motor 86, the ... The guide rail 82 moves horizontally on the horizontal guide rail 81; under the control of the robot control module 7, the second horizontal drive motor 85 drives the second vertical guide rail 83 to move horizontally on the horizontal guide rail 81; under the control of the robot control module 7, the first vertical drive motor 86 drives the first vertical guide rail 82 to move up and down; under the control of the robot control module 7, the second vertical drive motor 87 drives the second vertical guide rail 83 to move up and down; under the control of the robot control module 7, the blade cutting motor 88 operates to cut the external cotton buds. The structural diagram of the robot 8 is shown in FIG. Figure 3 shown.

[0050] In the present invention, three topping assemblies are installed on the left wing 11, and three topping assemblies are installed on the right wing 5. Each topping assembly contains a mechanical arm 8, and each mechanical arm 8 is controlled by a corresponding mechanical arm control module 7. Each mechanical arm 8 is provided with two vertical guide rails, and each vertical guide rail can move in the horizontal and vertical directions. A cutting motor 88 with a blade is provided at the bottom end of each vertical guide rail, and each cutting motor 88 with a blade can cut cotton buds under the control of the corresponding mechanical arm control module 7, that is, the cotton buds of 12 ridges can be toppled at the same time, which greatly improves the working efficiency compared with the prior art.

[0051] In each robotic arm 8, the length of the horizontal guide rail 81 is adjustable from 50 to 100 cm, so that the first vertical guide rail 82 and the second vertical guide rail 83 can move horizontally during the cotton bud topping operation, so as to align the cotton buds to be topped in the horizontal direction. Specifically, the length of the horizontal guide rail 81 of the present invention is 76 cm, which can be applied to the row spacing of most different varieties of cotton. The length of the up and down movement of the first vertical guide rail 82 and the second vertical guide rail 83 is 30 to 90 cm, so as to align the cotton buds to be topped in the vertical direction. Specifically, the length of the up and down movement of the first vertical guide rail 82 and the second vertical guide rail 83 of the present invention is 40 cm, which can be applied to most cotton planting areas of different varieties and different growth potentials.

[0052] The design of the mechanical arm 8 of the present invention is low-cost, simple in structure, light in weight, and occupies little space, thereby improving the reliability and maintenance cost of the mechanical arm 8 and significantly reducing the vehicle-borne weight. The two vertical guide rails in each mechanical arm 8 use an intelligent interactive mechanism, which can ensure that the cotton buds are toppled without dead angles within the range of responsibility of the two vertical guide rails, and will not cause collisions between the mechanical arm 8 or the vertical guide rails because the cotton buds are too close, thereby avoiding missed or mis-topping situations, and can well ensure the topping efficiency in the case of irregular growth of cotton plants, staggered rows, crossed rows, and repeated rows.

[0053] Furthermore, in each topping assembly, the active light trinocular sensor module 6 is installed in the upper front of the corresponding mechanical arm 8; the active light trinocular sensor module 6 includes an RGB camera 61, a first structured light receiving head 62, a second structured light receiving head 63 and an infrared light source 64; the infrared light source 64 emits infrared light of a preset wavelength to the external cotton plant branches and leaves, and the first structured light receiving head 62 and the second structured light receiving head 63 receive the reflected light; the reflected light received by the first structured light receiving head 62, the reflected light received by the second structured light receiving head 63 and the image information captured by the RGB camera 61 are all input into the computer. The structural diagram of the active light trinocular sensor module 6 is shown in FIG. Figure 4 shown.

[0054] The preset wavelength of the infrared light source 64 of the present invention is 780nm. The coded infrared light of this wavelength can effectively improve the ability to resist outdoor light interference, ensure that the work of the RGB camera 61 is free from interference, and improve the resolution accuracy. The infrared light source 64 emits 780nm infrared light to the cotton plant, and the first structured light receiving head 62 and the second structured light receiving head 63 receive the reflected light of the cotton plant. The information of the emitted light and the reflected light is input to the computer. The computer obtains the infrared depth image of the cotton plant through the emitted light and the reflected light. Combined with the two-dimensional image information of the cotton plant taken by the RGB camera 61, the bud top position corresponding to the three-dimensional coordinate information of the cotton bud can be obtained after pixel matching, and the accuracy can reach the millimeter level. After the computer extracts the bud top position corresponding to the three-dimensional coordinate information of the cotton bud, it sends instructions to each mechanical arm control module 7 to control the corresponding mechanical arm 8 to move to the bud top position and implement the topping operation. The computer has high-speed computing capability and can complete the recognition work of one RGB camera 61 in 70ms. The time required for the time-sharing processing of six RGB cameras 61 to complete the recognition is 420ms. This processing speed is sufficient to meet the needs of six robotic arms 8 to carry out cotton bud topping operations at the same time.

[0055] In addition, in each topping assembly, an inertial measurement submodule is also provided in the active optical trinocular sensor module 6, and the output end of the inertial measurement submodule is connected to the mechanical arm control module 7 for detecting the tilt angle of the topping assembly. During the topping process of the mechanical arm 8, position deviation is easily generated, and the tilt angle can be used to compensate for the deviation value.

[0056] The vehicle body includes a convertible hood 17, the specific structure of which is as follows Figure 5 As shown. With reference to the direction of travel of the vehicle body, the convertible 17 is a cubic structure, with both sides and the bottom of the convertible 17 being hollow, with only the front, rear and top being fixedly connected. With reference to the direction of travel of the vehicle body, the convertible 17 covers the two wings, the two rear wheels 2 and the front, rear and top of each roofing assembly.

[0057] A solar panel 171 is provided on the top of the convertible 17; the solar panel 171 supplies power to the system. In the cotton bud topping process or when the cotton bud is idle outdoors, the solar panel 171 can absorb sunlight and convert solar radiation energy into electrical energy as an auxiliary power source to supply power to the system, thereby achieving energy saving.

[0058] With the direction of travel of the vehicle body as a reference, an electrochromic film 172 is provided at the front and rear of the convertible 17, and a photosensitive module, a fill light module and a voltage control module are provided for the electrochromic film 172 in the convertible 17; the photosensitive module senses the light intensity of external sunlight, and inputs the light intensity information into the voltage control module, and the voltage control module sends a control voltage to the electrochromic film 172 according to the light intensity information, and changes the light transmittance of the electrochromic film 172 by changing the voltage to change the light intensity in the convertible 17; when the light intensity in the convertible 17 is weak, the voltage control module starts the fill light module for fill light, thereby enhancing the light intensity in the convertible 17, so that each RGB camera 61 in each convertible 17 maintains the camera illumination.

[0059] The electrically-controlled color-changing film 172 has a shading effect. Cotton bud topping is an outdoor operation. The identification of cotton buds and the topping efficiency of the robot arm 8 are easily affected by the changing light outdoors. The convertible 17 is used to cover each topping component, and the electrically-controlled color-changing film 172 and the fill light module are set in the convertible 17. The electrically-controlled color-changing film 172 can automatically adjust the brightness according to the ambient light. The topping operation environment can be set in a local space and an independent environment to ensure that the brightness of the light in the convertible 17 remains unchanged to ensure that the topping environment is relatively stable to avoid mis-topping or missed topping. Even if it is a night operation, the lighting in the convertible 17 can still be achieved to ensure the smooth progress of the topping operation. In addition, the electrically-controlled color-changing film 172 also has a windproof effect and can withstand a level 5 wind. During the topping operation, it can effectively reduce the influence of natural wind to avoid affecting the identification of cotton buds and the topping efficiency of the robot arm 8.

[0060] The present invention is also provided with a remote monitoring module; the remote monitoring module is bidirectionally connected to the walking obstacle avoidance control module. The detection information, control information, and operating status of the robot arm 8 of the present invention can all be transmitted to the remote monitoring module, and the staff can grasp the operating status of each system through the remote monitoring module.

[0061] On the two wings of the present invention, an axis joint 18 is provided just above the rear wheel 2, and the two wings can be rotated and folded toward the front wheel 1 through the axis joint 18, which is convenient for transportation. When carrying out the topping operation, the two wings can be used by simply opening them along the axis joint 18 in the opposite direction of the travel direction of the front wheel 1. The mechanical structure diagram after folding is as follows Figure 6 shown.

[0062] The present invention is also provided with a physical lever 16, which is installed on both sides of the front wheel central axis 12 through a connecting member and a spring member 6. When the vehicle body is moving, the physical lever 16 frames the cotton plants on the ridges on both sides of the wheel 1. When the ridge spacing changes, the distance between the physical levers 16 on both sides of the front wheel central axis 12 also changes accordingly to ensure that the wheel 1 is always in the middle of the ridges on both sides during the moving process, thereby preventing the vehicle body from deviating during the moving process.

[0063] The present invention also provides a plurality of mounting holes on the wing, and the wheel forks of the rear wheels 2 can be connected with the left wing 11 and the right wing 5 through different mounting holes, thereby changing the distance between the rear wheels 2 to meet the requirements of different ridge spacing.

[0064] The present invention combines movement, steering, positioning, obstacle avoidance, identification, and topping by a robotic arm 8 to form an intelligent closed-loop structure. The structure can dynamically control the movement of the vehicle body and the topping by the robotic arm 8, and automatically, intelligently, and specifically complete the cotton bud topping operation to ensure the topping efficiency and cotton harvest.

Claims

1. Intelligent cotton bud topping system, including a vehicle body, characterized by: It also includes a computer, a parameter detection module, a walking obstacle avoidance control module, a positioning module (10), an obstacle avoidance detection module and at least one topping component; in each topping component, the topping component includes an active light trinocular sensor module (6), a robotic arm control module (7) and a robotic arm (8); The parameter detection module detects the steering angle, displacement, driving speed and offset angle of the vehicle body, and inputs the detection results to each mechanical arm control module (7); the positioning module (10) provides the walking obstacle avoidance control module with the position positioning information of the vehicle body; the obstacle avoidance detection module provides the walking obstacle avoidance control module with the obstacle information during the movement of the vehicle body; the walking obstacle avoidance control module controls the movement and steering of the vehicle body according to the position positioning information and the obstacle information; Each active optical trinocular sensor module (6) obtains image information of external cotton plant branches and leaves, and inputs the information into a computer for processing; the computer extracts the bud top position corresponding to the three-dimensional coordinate information of the external cotton bud, and inputs the bud top position into a mechanical arm control module (7) corresponding to the active optical trinocular sensor module (6); the mechanical arm control module (7) controls the corresponding mechanical arm (8) to operate according to the detection result provided by the parameter detection module and the bud top position extracted by the computer, thereby completing the cotton bud topping operation; The vehicle body includes a convertible top (17); With reference to the direction of travel of the vehicle body, the convertible (17) covers the front, rear and top of each topping assembly; A solar panel (171) is provided on the top of the convertible (17); the solar panel (171) converts solar energy into electrical energy to supply power to the system; With the direction of travel of the vehicle body as a reference, an electrochromic film (172) is provided at the front and rear of the convertible (17), and a photosensitive module, a fill light module and a voltage control module are provided for the electrochromic film (172) inside the convertible (17); the photosensitive module senses the light intensity of external sunlight and inputs the light intensity information into the voltage control module, and the voltage control module sends a voltage to the electrochromic film (172) according to the light intensity information, and changes the light transmittance of the electrochromic film (172) through the voltage to change the light intensity inside the convertible (17); when the light intensity inside the convertible (17) is weak, the voltage control module starts the fill light module to fill light, thereby enhancing the light intensity inside the convertible (17); A remote monitoring module is also provided; the remote monitoring module is bidirectionally connected to the walking obstacle avoidance control module.

2. The intelligent cotton bud topping system according to claim 1, characterized in that: It also includes a travel drive module (3) and a steering drive module (4); The vehicle body includes a traveling component and a steering component; The walking obstacle avoidance control module controls the operation of the traveling drive module (3), and then controls the travel of the vehicle body through the traveling component; the walking obstacle avoidance control module controls the operation of the steering drive module (4), and then controls the steering of the vehicle body through the steering component.

3. The intelligent cotton bud topping system according to claim 2, characterized in that: The vehicle body also includes at least two rear wheels (2); The traveling assembly comprises a front wheel (1), a front wheel center shaft (12) and a chain (13); Under the drive of the travel drive module (3), the force is transmitted to the front wheel center shaft (12) through the chain (13), thereby controlling the travel of the front wheel (1); The steering assembly controls the steering of the front wheel (1); The parameter detection module comprises a steering sensor and at least three rolling encoders, the number of the rolling encoders being the same as the sum of the number of the front wheels (1) and the rear wheels (2); the steering sensor is mounted on the steering assembly, a rolling encoder is mounted on the front wheel center axis (12), and a rolling encoder is mounted on the center axis of each rear wheel (2).

4. The intelligent cotton bud topping system according to claim 1, characterized in that: The vehicle body also includes two wings, the two wings are respectively a left wing (11) and a right wing (5); at least three topping assemblies are installed on the left wing (11); at least three topping assemblies are also installed on the right wing (5), and the number of topping assemblies on the left wing (11) and the right wing (5) is the same.

5. The intelligent cotton bud topping system according to claim 4, characterized in that: The parameter detection module comprises two gyroscopes; the two gyroscopes are respectively a left wing gyroscope and a right wing gyroscope; the left wing gyroscope is installed on the left wing (11) to detect the up and down offset angle of the left wing (11); the right wing gyroscope is installed on the right wing (5) to detect the up and down offset angle of the right wing (5); the detection results of the left wing gyroscope and the right wing gyroscope are input into the mechanical arm control module (7).

6. The intelligent cotton bud topping system according to claim 1, characterized in that: The obstacle avoidance detection module comprises at least three laser radars (14); one laser radar (14) is installed directly in front of the front wheel (1) and directly in front of each rear wheel (2), and the information detected by each laser radar is input into the walking obstacle avoidance control module.

7. The intelligent cotton bud topping system according to claim 1, characterized in that: In each topping assembly, the mechanical arm (8) comprises a horizontal guide rail (81), a first vertical guide rail (82), a second vertical guide rail (83), a first horizontal drive motor (84), a second horizontal drive motor (85), a first vertical drive motor (86), a second vertical drive motor (87) and two blade cutting motors (88); a blade cutting motor (88) is installed at the bottom end of the first vertical guide rail (82), and a blade cutting motor (88) is installed at the bottom end of the second vertical guide rail (83); Under the control of the robot control module (7), the first horizontal drive motor (84) drives the first vertical guide rail (82) to move horizontally on the horizontal guide rail (81); under the control of the robot control module (7), the second horizontal drive motor (85) drives the second vertical guide rail (83) to move horizontally on the horizontal guide rail (81); under the control of the robot control module (7), the first vertical drive motor (86) drives the first vertical guide rail (82) to move up and down; under the control of the robot control module (7), the second vertical drive motor (87) drives the second vertical guide rail (83) to move up and down; under the control of the robot control module (7), the blade cutting motor (88) operates to cut the external cotton buds.

8. The intelligent cotton bud topping system according to claim 1, characterized in that: In each topping assembly, the active optical trinocular sensor module (6) is installed above and in front of the corresponding mechanical arm (8); The active optical trinocular sensor module (6) comprises an RGB camera (61), a first structured light receiving head (62), a second structured light receiving head (63), and an infrared light source (64); the infrared light source (64) emits infrared light of a preset wavelength to external cotton plant branches and leaves, and the first structured light receiving head (62) and the second structured light receiving head (63) receive reflected light; The reflected light received by the first structured light receiving head (62), the reflected light received by the second structured light receiving head (63), and the image information captured by the RGB camera (61) are all input into the computer.

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