Carthamus tinctorius precise cohesion harvesting robot based on cooperation of multiple mechanical arms and control method

Abstract

The invention belongs to the field of agricultural machinery, and relates to a carthamus tinctorius precise cohesion harvesting robot based on cooperation of multiple mechanical arms and a control method. The carthamus tinctorius precise cohesion harvesting robot comprises a moving device, a carthamus tinctorius recognizing and positioning system, a mechanical arm set, a filament harvesting device, a filament collecting device and an electric control system. The carthamus tinctorius recognizing and positioning system comprises a planting row positioning camera, a binocular recognition camera and a precise positioning camera, the mechanical arm set comprises a plurality of joint type mechanical arms, and the filament harvesting device comprises a shell, a filament collecting pipe, a cohesion clamping device and a filament cutting device. According to the carthamus tinctorius precise cohesion harvesting robot based on cooperation of the multiple mechanical arms, fruit balls are rapidly positioned by the mechanical arms through information collected by the binocular recognition camera, filaments are accurately positioned by the filament harvesting device through information collected by the precise positioning camera, and the registration speed and accuracy are improved through multi-information fusion; the multiple mechanical arms cooperate for harvesting, and rapid and efficient harvesting is achieved; the cohesion clamping device is used for clamping the fruit balls for feeding, so that filaments are cut from the roots; and the filaments are centripetally gathered by arc-shaped bisection cutters, so that the filaments are intensively gathered and cut.

Description

technical field [0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a safflower precision cohesion harvesting robot and a control method based on the coordination of multiple mechanical arms. Background technique [0002] Safflower is an economic crop with Chinese characteristics, which has important medicinal value and economic value, and its demand is constantly increasing. The safflower filaments will grow again after being harvested, and it needs to be harvested 3-5 times continuously, which is labor-intensive. With the increase in labor costs year by year, the problem of filament harvesting has become a bottleneck restricting the development of safflower industrialization. At present, the mechanized harvesting machines for safflower filaments mainly include backpack-type harvesting machines, which have improved efficiency compared with manual harvesting; most of the crops in facility agriculture are structured plan...

AI Technical Summary

Problems solved by technology

At present, the mechanized harvesting machines for safflower filaments mainly include backpack-type harvesting machines, which have improved efficiency compared with manual harvesting; most of the crops in facility agriculture are structured planting, the natural environment for growth is relatively stable, and the plant disturbance is small, so Harvesting robots are widely used in facility agriculture; however, since safflower is mostly planted in large fields, the planting mode is relatively rough. When the harvesting robot is working, the plants are disturbed by the structure of the robot or the natural conditions, which will affect the target of the harvesting robot. identification, targeting, and recovery interfered

[0003] At present, there is a safflower harvesting robot (patent application publication number: CN 108391507 A) that uses a jointed mechanical arm to harvest safflower, but the efficiency of a single mechanical arm is low, and installing multiple mechanical arms will cause the chassis to be too large to Adapt to the safflower planting mode; there is also a safflower harvesting robot (patent application publication number: CN 107637279 A), after the camera identifies and locates the safflower, the fruit ball deviates from the original location due to the movement of the robotic arm or the interference of the plant from the outside. As a result, the end effector cannot be aligned with the safflower; the existing safflower harvesting robot is difficult to flower due to plant disturbance, and the efficiency of a single robotic arm is slow, resulting in low safflower harvesting efficiency

Images