All-area multi-module intelligent safflower harvesting robot and control method thereof

Abstract

The invention belongs to the field of agricultural machinery, and relates to an all-area multi-module intelligent safflower harvesting robot and a control method thereof. The harvesting robot comprises a rack, an all-area safflower harvesting module, an auxiliary module and a control system; the rack comprises a main rack, a module expansion frame, a walking wheel set and an expansion frame installation rail; the all-area safflower harvesting module comprises a filament collecting device, an end effector group and an end effector guide mounting frame; the control system comprises a satellite positioning system, a harvesting module row-aligning positioning system and a control module. According to the invention, through the expandable design of the modules, a plurality of harvesting modules with adjustable intervals are mounted, so that flexible harvesting of multiple rows of safflowers is realized; multiple adjusting mechanisms are parallel, so that the harvesting flexibility is improved; a leveling device is utilized to realize adaptation to different gradients; end effectors of different specifications are arranged according to a safflower plant model, so that segmented harvesting of the whole area of safflowers is realized, and the picking efficiency is improved; and cutters are designed in a fine partition mode, pushing and cutting are integrated, filaments are cut precisely in a segmented mode, and the filament cutting quality is improved.

Description

technical field [0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a safflower global multi-module intelligent harvesting robot and a control method thereof. Background technique [0002] Safflower is an economic crop with Chinese characteristics, with high medicinal value and economic value, and its demand is constantly increasing. With the development of satellite navigation technology, the planting mode of safflower has been gradually standardized. The planting of safflower can be planned according to the route of satellite navigation, and the planting with equal row spacing is gradually promoted, laying the foundation for the multi-row synchronous operation of harvesting robots; however, due to different safflower The different planting patterns in the planting area, coupled with factors such as plant growth and natural environment, result in different planting row spacing of safflower, which makes it difficult to ...

AI Technical Summary

Problems solved by technology

With the development of satellite navigation technology, the planting mode of safflower has been gradually standardized. The planting of safflower can be planned according to the route of satellite navigation, and the planting with equal row spacing is gradually promoted, laying the foundation for the multi-row synchronous operation of harvesting robots; however, due to different safflower The different planting patterns in the planting area, coupled with factors such as plant growth and natural environment, result in different planting row spacing of safflower, which makes it difficult to adjust the multi-row mechanized harvesting of safflower in real time, making multi-row harvesting impossible, which greatly limits harvesting. The harvesting efficiency of the harvesting robot is improved; in addition, the existing devices basically use single or multiple robotic arms for harvesting, and there is no machine tool for profiling harvesting according to the distribution of safflower fruit balls, and it is impossible to harvest multiple fruits at the same time. The filaments on the ball also limit the improvement of safflower harvesting efficiency; the cutting method of the end effector of the current safflower picking robot is relatively rough, which is not ideal for necking and cutting through the flower-aligning device, the cutting range is too large and the tool speed High requirements, resulting in low filament recovery rate

[0003] For example, the Chinese invention patent application "a Cartesian coordinates safflower picking robot", application number: CN 109673263 A, although the automatic picking of safflower has been realized to a certain extent, the efficiency of a single robotic arm is low and the picking speed is slow; China Invention patent application "Safflower Filament Bite Type Parallel Harvesting Robot", application number: CN 111955164 A, has four robotic arms, but the working area corresponding to a single robotic arm is large, and the robotic arm moves frequently, which is not conducive to harvesting efficiency Further improvement; and most of the existing safflower picking robots are single-row picking, it is difficult to expand to multi-row picking

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